69
Total objective tests
17
Objectives passed
0
Objectives failed
52
Objectives skipped
23.5s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.4s | 65 errors · 794 warnings · 1940 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-24-01-25-45-621746-f4773bf34838-9235 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.08sINFOros2_control_node-7process started with pid [9291] + 13.09sINFOmove_group-19process started with pid [9369] + 13.09sINFOparameter_manager_node-20process started with pid [9370] + 13.09sINFOwaypoint_manager_node-21process started with pid [9371] + 13.09sINFOmove_joint_resampler_node-22process started with pid [9372] + 13.09sINFOmove_end_effector_resampler_node-23process started with pid [9392] + 13.09sINFOobjective_server_node_main-24process started with pid [9394] + 13.09sINFOcomponent_container_mt-25process started with pid [9397] + 13.09sINFOcomponent_container_mt-26process started with pid [9398] + 13.09sINFOexecute_objective_bridge-27process started with pid [9399] + 13.09sINFOui_teleop_bridge-28process started with pid [9400] + 13.09sINFOweb_bridge-29process started with pid [9401] + 13.09sINFOtf2_web_republisher_node-30process started with pid [9402] + 13.09sINFOweb_video_server-31process started with pid [9405] + 13.09sINFOweb_bridge_auth_proxy-32process started with pid [9406] + 13.11sINFOweb_video_auth_proxy-33process started with pid [9407] + 13.11sINFOcomponent_container_isolated-1process started with pid [9285] + 13.11sINFOstatic_transform_publisher-2process started with pid [9286] + 13.12sINFOstatic_transform_publisher-3process started with pid [9287] + 13.12sINFOodom_qos_relay.py-4process started with pid [9288] + 13.12sINFOscan_to_scan_filter_chain-5process started with pid [9289] + 13.12sINFOscan_to_scan_filter_chain-6process started with pid [9290] + 13.12sINFOros2-8process started with pid [9292] + 13.12sINFOros2-9process started with pid [9359] + 13.12sINFOros2-10process started with pid [9360] + 13.12sINFOros2-11process started with pid [9361] + 13.12sINFOros2-12process started with pid [9362] + 13.12sINFOros2-13process started with pid [9363] + 13.12sINFOros2-14process started with pid [9364] + 13.12sINFOros2-15process started with pid [9365] + 13.12sINFOros2-16process started with pid [9366] + 13.12sINFOros2-17process started with pid [9367] + 13.12sINFOros2-18process started with pid [9368] + 13.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.26sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 13.26sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 13.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.27sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 13.27sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 13.27sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.28sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 13.28sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.28sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.28sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.28sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.28sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.28sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026288 ms (missed cycles : 3).[0m + 13.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.31sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.32sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.37sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.38sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.38sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.43sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.57sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 13.82sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 13.93sINFOmove_groupLoaded robot model in 0.192863 seconds[0m + 13.93sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.93sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 14.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 14.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 14.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 14.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 14.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 14.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 14.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 14.08sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055544 ms (missed cycles : 4).[0m + 14.43sINFOwaypoint_manager_nodeLoaded robot model in 0.497757 seconds[0m + 14.44sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.44sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.46sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.81sINFOmove_group[2026-07-24 01:26:03.690] [moveit_pro_license] [info] + 14.81sINFOmove_group************************************************* ×6 + 14.81sINFOmove_group* MoveIt Pro License ×3 + 14.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 14.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.04sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.04sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.06sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.06sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.06sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.07sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×13 + 15.27sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.27sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.28sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.28sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.28sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.28sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.28sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.29sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.29sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.29sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.29sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.35sINFOwaypoint_manager_node[2026-07-24 01:26:04.228] [moveit_pro_license] [info] + 15.35sINFOwaypoint_manager_node************************************************* ×6 + 15.35sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 15.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.65sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.65sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.66sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.70sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.71sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.71sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.71sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.71sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.71sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.71sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.71sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.71sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.71sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.71sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.71sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.71sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.71sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.71sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.71sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.71sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.71sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.71sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.71sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849126 ms (missed cycles : 2).[0m + 15.75sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 15.83sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 15.83sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 15.84sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 15.87sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 15.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 15.88sINFOros2_control_nodeconfigure successful[0m ×9 + 15.88sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 15.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 15.89sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.21sINFOros2-11process has finished cleanly [pid 9361] + 16.23sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.24sINFOobjective_server_node[2026-07-24 01:26:05.116] [moveit_pro_license] [info] + 16.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.24sINFOobjective_server_node************************************************* ×8 + 16.24sINFOobjective_server_node* MoveIt Pro License ×4 + 16.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.24sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 16.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.32sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.32sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.32sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.32sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.32sINFOobjective_server_nodeLoaded robot model in 0.026758 seconds[0m + 16.32sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.33sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.33sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.36sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.37sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.37sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.37sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 16.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.45sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.64sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 16.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.68sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 16.69sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 16.69sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 16.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 16.74sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.75sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.75sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.75sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.76sINFOros2-10process has finished cleanly [pid 9360] + 16.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 16.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 16.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 16.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095577 ms (missed cycles : 4).[0m + 16.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 16.81sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 16.81sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.82sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 16.83sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 16.83sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.83sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.83sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.83sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.83sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.83sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.83sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.84sINFOcomponent_container_mtLoaded robot model in 0.390786 seconds[0m + 16.84sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 16.84sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.86sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 16.86sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 16.87sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 16.87sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 16.87sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 16.87sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 16.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 16.91sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 16.96sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 16.96sINFOmove_group ×12 + 16.96sINFOmove_group******************************************************** ×6 + 16.96sINFOmove_group* MoveGroup using: ×3 + 16.96sINFOmove_group* - apply_planning_scene_service ×3 + 16.96sINFOmove_group* - clear_octomap_service ×3 + 16.96sINFOmove_group* - get_group_urdf ×3 + 16.96sINFOmove_group* - load_geometry_from_file ×3 + 16.96sINFOmove_group* - get_planning_scene_service ×3 + 16.96sINFOmove_group* - kinematics_service ×3 + 16.96sINFOmove_group* - save_geometry_to_file ×3 + 16.96sINFOmove_group* - GetPlanningGroups ×3 + 16.96sINFOmove_group* - URDFPlanningSceneCapability ×3 + 16.96sINFOmove_group[0m ×3 + 16.97sINFOmove_group[92mYou can start planning now![0m ×3 + 17.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 17.11sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 17.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 17.18sINFOros2-12process has finished cleanly [pid 9362] + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.27sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 17.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 17.27sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 17.27sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 17.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 17.28sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 17.28sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 17.28sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 17.55sINFOcomponent_container_mt[2026-07-24 01:26:06.427] [moveit_pro_license] [info] + 17.55sINFOcomponent_container_mt************************************************* ×6 + 17.55sINFOcomponent_container_mt* MoveIt Pro License ×3 + 17.55sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 17.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 17.63sINFOros2-14process has finished cleanly [pid 9364] + 17.73sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994439 ms (missed cycles : 2).[0m + 17.80sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 17.80sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 17.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.82sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.87sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.87sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.18sINFOros2_control_node[2026-07-24 01:26:07.055] [info] Controller state will be published at 20 Hz. + 18.18sINFOros2_control_node[2026-07-24 01:26:07.057] [info] JointVelocityController 'on_configure' succeeded. + 18.53sINFOros2-18process has finished cleanly [pid 9368] + 18.73sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 18.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035832 ms (missed cycles : 3).[0m + 18.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 18.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 18.84sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.20sINFOros2_control_node[2026-07-24 01:26:08.078] [info] Controller state will be published at 20 Hz. + 19.20sINFOros2_control_node[2026-07-24 01:26:08.079] [info] JointVelocityController 'on_configure' succeeded. + 19.57sINFOros2-17process has finished cleanly [pid 9367] + 19.57sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 19.57sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 19.65sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 19.68sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 19.69sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219377 ms (missed cycles : 3).[0m + 20.06sINFOros2_control_node[2026-07-24 01:26:08.939] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.07sINFOros2_control_node[2026-07-24 01:26:08.943] [info] Controller state will be published at 10 Hz. + 20.07sINFOros2_control_node[2026-07-24 01:26:08.944] [info] VelocityForceController 'on_configure' succeeded. + 20.44sINFOros2-16process has finished cleanly [pid 9366] + 20.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 20.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 20.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 20.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 20.84sINFOros2_control_node[2026-07-24 01:26:09.718] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.84sINFOros2_control_node[2026-07-24 01:26:09.721] [info] Controller state will be published at 10 Hz. + 20.85sINFOros2_control_node[2026-07-24 01:26:09.722] [info] VelocityForceController 'on_configure' succeeded. + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128893 ms (missed cycles : 3).[0m + 21.21sINFOros2-15process has finished cleanly [pid 9365] + 21.51sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 21.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 21.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 21.54sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 21.55sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 21.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 21.56sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677696 ms (missed cycles : 2).[0m + 21.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.89sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 21.90sINFOros2-8process has finished cleanly [pid 9292] + 21.97sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.97sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.98sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.99sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 22.35sINFOros2-9process has finished cleanly [pid 9359] + 22.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 22.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 22.36sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rt2f_m1i --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_0ctg6wkq --params-file /tmp/launch_params_z1728sxt [0m + 22.43sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 22.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 22.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 22.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 22.84sINFOros2-13process has finished cleanly [pid 9363] + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867706 ms (missed cycles : 2).[0m + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633802 ms (missed cycles : 3).[0m + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129401 ms (missed cycles : 4).[0m + 25.75sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234762 ms (missed cycles : 2).[0m + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788245 ms (missed cycles : 4).[0m + 27.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856376.72440481 seconds. + 27.85sINFOmove_groupClearing octomap...[0m ×4 + 27.85sINFOmove_groupOctomap cleared.[0m ×4 + 27.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856376.73463893 seconds + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530328 ms (missed cycles : 2).[0m + 28.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856377.30447316 seconds. + 28.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856377.31462407 seconds + 28.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856377.86380601 seconds. + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053262 ms (missed cycles : 3).[0m + 29.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856378.01720405 seconds + 29.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856378.60034537 seconds. + 29.74sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 29.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 29.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 29.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 29.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856378.66048336 seconds + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180490 ms (missed cycles : 5).[0m + 30.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856379.21128249 seconds. + 30.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216443 ms (missed cycles : 2).[0m + 31.40sINFOobjective_server_nodePlanning for 177 path waypoints. + 31.66sINFOros2_control_nodeReceived new action goal[0m ×17 + 31.67sINFOros2_control_nodeAccepted new action goal[0m ×17 + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940321 ms (missed cycles : 3).[0m + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813861 ms (missed cycles : 5).[0m + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.353597 ms (missed cycles : 6).[0m + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252175 ms (missed cycles : 2).[0m + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267292 ms (missed cycles : 2).[0m + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088084 ms (missed cycles : 4).[0m + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691528 ms (missed cycles : 3).[0m + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657814 ms (missed cycles : 4).[0m + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384800 ms (missed cycles : 3).[0m + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499788 ms (missed cycles : 2).[0m + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995264 ms (missed cycles : 2).[0m + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631185 ms (missed cycles : 4).[0m + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070044 ms (missed cycles : 2).[0m + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396571 ms (missed cycles : 6).[0m + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861021 ms (missed cycles : 5).[0m + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967819 ms (missed cycles : 5).[0m + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987449 ms (missed cycles : 3).[0m + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304380 ms (missed cycles : 4).[0m + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.322081 ms (missed cycles : 7).[0m + 51.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970980 ms (missed cycles : 3).[0m + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778199 ms (missed cycles : 5).[0m + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189632 ms (missed cycles : 3).[0m + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847609 ms (missed cycles : 3).[0m + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328576 ms (missed cycles : 2).[0m + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116578 ms (missed cycles : 5).[0m + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763952 ms (missed cycles : 4).[0m + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848662 ms (missed cycles : 2).[0m + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.309711 ms (missed cycles : 7).[0m + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795294 ms (missed cycles : 3).[0m + 62.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231908 ms (missed cycles : 2).[0m + 63.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507911 ms (missed cycles : 4).[0m + 64.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270803 ms (missed cycles : 2).[0m + 65.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642299 ms (missed cycles : 2).[0m + 66.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215268 ms (missed cycles : 4).[0m + 67.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891902 ms (missed cycles : 2).[0m + 68.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234518 ms (missed cycles : 4).[0m + 69.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033138 ms (missed cycles : 2).[0m + 70.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853307 ms (missed cycles : 3).[0m + 71.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847210 ms (missed cycles : 2).[0m + 72.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675004 ms (missed cycles : 5).[0m + 73.29sINFOros2_control_nodeGoal reached, success![0m ×15 + 73.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856422.20275474 seconds + 73.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074111 ms (missed cycles : 5).[0m + 73.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856422.76121998 seconds. + 74.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076382 ms (missed cycles : 4).[0m + 74.84sINFOobjective_server_nodeFound path in 0 iterations (2.4101e-05 s). + 74.84sINFOobjective_server_nodePath shortcutter: [X____X] + 74.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 75.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983524 ms (missed cycles : 3).[0m + 76.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343067 ms (missed cycles : 4).[0m + 76.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784856425.84134841 seconds + 77.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784856426.39627481 seconds. + 77.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782414 ms (missed cycles : 5).[0m + 77.87sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×4 + 78.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314165 ms (missed cycles : 5).[0m + 79.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 79.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120766 ms (missed cycles : 2).[0m + 80.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826330 ms (missed cycles : 5).[0m + 81.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885266 ms (missed cycles : 2).[0m + 82.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396812 ms (missed cycles : 3).[0m + 83.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513936 ms (missed cycles : 4).[0m + 84.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075509 ms (missed cycles : 2).[0m + 85.76sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m + 85.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945761 ms (missed cycles : 2).[0m + 86.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517679 ms (missed cycles : 2).[0m + 87.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537374 ms (missed cycles : 2).[0m + 88.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989029 ms (missed cycles : 3).[0m + 90.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394598 ms (missed cycles : 3).[0m + 91.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515028 ms (missed cycles : 3).[0m + 92.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333014 ms (missed cycles : 5).[0m + 93.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943793 ms (missed cycles : 3).[0m + 94.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595659 ms (missed cycles : 4).[0m + 95.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005969 ms (missed cycles : 2).[0m + 96.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652998 ms (missed cycles : 5).[0m + 97.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937609 ms (missed cycles : 3).[0m + 98.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038955 ms (missed cycles : 4).[0m + 99.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412732 ms (missed cycles : 4).[0m +100.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167400 ms (missed cycles : 2).[0m +101.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932236 ms (missed cycles : 2).[0m +102.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874329 ms (missed cycles : 3).[0m +103.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458864 ms (missed cycles : 3).[0m +104.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.919837 ms (missed cycles : 6).[0m +105.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289895 ms (missed cycles : 3).[0m +106.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.569398 ms (missed cycles : 6).[0m +107.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270896 ms (missed cycles : 2).[0m +108.35sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +108.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267505 ms (missed cycles : 2).[0m +109.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836533 ms (missed cycles : 3).[0m +110.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476816 ms (missed cycles : 2).[0m +111.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091509 ms (missed cycles : 2).[0m +112.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757916 ms (missed cycles : 2).[0m +113.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261338 ms (missed cycles : 2).[0m +114.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724699 ms (missed cycles : 2).[0m +115.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386500 ms (missed cycles : 3).[0m +116.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623043 ms (missed cycles : 4).[0m +117.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732949 ms (missed cycles : 2).[0m +119.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.917121 ms (missed cycles : 6).[0m +120.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736124 ms (missed cycles : 3).[0m +121.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323079 ms (missed cycles : 2).[0m +122.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294931 ms (missed cycles : 4).[0m +123.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089537 ms (missed cycles : 4).[0m +124.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690072 ms (missed cycles : 5).[0m +125.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317207 ms (missed cycles : 5).[0m +126.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063848 ms (missed cycles : 2).[0m +127.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804738 ms (missed cycles : 2).[0m +128.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616790 ms (missed cycles : 3).[0m +129.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314917 ms (missed cycles : 2).[0m +130.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258526 ms (missed cycles : 3).[0m +131.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124973 ms (missed cycles : 2).[0m +132.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243132 ms (missed cycles : 2).[0m +133.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441488 ms (missed cycles : 6).[0m +134.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856482.97644424 seconds +134.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.988597 ms (missed cycles : 6).[0m +134.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856483.53801727 seconds. +135.00sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +135.03sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336935 ms (missed cycles : 2).[0m +136.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.200975 ms (missed cycles : 7).[0m +137.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813606 ms (missed cycles : 2).[0m +138.65sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784856487.52816677 seconds +138.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339736 ms (missed cycles : 3).[0m +139.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794953 ms (missed cycles : 2).[0m +140.20sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784856489.08161402 seconds. +140.57sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +140.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173923 ms (missed cycles : 4).[0m +141.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009270 ms (missed cycles : 2).[0m +142.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267754 ms (missed cycles : 5).[0m +143.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993496 ms (missed cycles : 3).[0m +144.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330181 ms (missed cycles : 2).[0m +145.76sINFOros2_control_nodeMuJoCo sim: 0.85% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845189 ms (missed cycles : 2).[0m +147.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753278 ms (missed cycles : 2).[0m +148.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079234 ms (missed cycles : 2).[0m +149.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557988 ms (missed cycles : 3).[0m +150.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052216 ms (missed cycles : 4).[0m +151.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532668 ms (missed cycles : 3).[0m +152.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417226 ms (missed cycles : 2).[0m +153.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576269 ms (missed cycles : 4).[0m +154.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434117 ms (missed cycles : 6).[0m +155.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064030 ms (missed cycles : 2).[0m +156.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210332 ms (missed cycles : 5).[0m +157.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094352 ms (missed cycles : 2).[0m +158.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650516 ms (missed cycles : 4).[0m +159.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.942650 ms (missed cycles : 6).[0m +160.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320708 ms (missed cycles : 3).[0m +161.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993888 ms (missed cycles : 3).[0m +162.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794644 ms (missed cycles : 3).[0m +163.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703753 ms (missed cycles : 2).[0m +164.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566452 ms (missed cycles : 3).[0m +165.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976972 ms (missed cycles : 2).[0m +166.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398536 ms (missed cycles : 6).[0m +167.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215457 ms (missed cycles : 4).[0m +168.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989823 ms (missed cycles : 3).[0m +169.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676499 ms (missed cycles : 3).[0m +170.68sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784856519.55623245 seconds +170.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081156 ms (missed cycles : 3).[0m +171.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784856520.11708736 seconds. +171.62sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). +171.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621016 ms (missed cycles : 4).[0m +172.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +172.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805459 ms (missed cycles : 2).[0m +173.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685635 ms (missed cycles : 2).[0m +175.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494373 ms (missed cycles : 2).[0m +176.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337178 ms (missed cycles : 2).[0m +177.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163006 ms (missed cycles : 3).[0m +178.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153191 ms (missed cycles : 4).[0m +179.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230509 ms (missed cycles : 2).[0m +180.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399480 ms (missed cycles : 3).[0m +181.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110162 ms (missed cycles : 4).[0m +182.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.048853 ms (missed cycles : 7).[0m +183.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729743 ms (missed cycles : 2).[0m +184.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.061478 ms (missed cycles : 7).[0m +185.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689826 ms (missed cycles : 5).[0m +186.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787368 ms (missed cycles : 5).[0m +187.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064213 ms (missed cycles : 3).[0m +188.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932994 ms (missed cycles : 3).[0m +189.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891610 ms (missed cycles : 3).[0m +190.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427781 ms (missed cycles : 3).[0m +191.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334796 ms (missed cycles : 5).[0m +192.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050919 ms (missed cycles : 4).[0m +193.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049393 ms (missed cycles : 4).[0m +194.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009183 ms (missed cycles : 2).[0m +195.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615769 ms (missed cycles : 2).[0m +196.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715674 ms (missed cycles : 2).[0m +197.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653556 ms (missed cycles : 4).[0m +199.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.109849 ms (missed cycles : 6).[0m +200.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177713 ms (missed cycles : 2).[0m +201.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379098 ms (missed cycles : 3).[0m +202.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473250 ms (missed cycles : 3).[0m +202.67sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +203.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391763 ms (missed cycles : 2).[0m +203.31sINFOobjective_server_nodePlanning for 53 path waypoints. +204.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493692 ms (missed cycles : 3).[0m +205.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.851213 ms (missed cycles : 6).[0m +205.76sINFOros2_control_nodeMuJoCo sim: 0.94% of iterations over time budget. Below 1% expected for non-realtime.[0m +206.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255814 ms (missed cycles : 2).[0m +207.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441864 ms (missed cycles : 5).[0m +208.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919385 ms (missed cycles : 5).[0m +209.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457536 ms (missed cycles : 3).[0m +210.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709638 ms (missed cycles : 2).[0m +211.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313793 ms (missed cycles : 5).[0m +212.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959576 ms (missed cycles : 3).[0m +213.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058411 ms (missed cycles : 4).[0m +214.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460702 ms (missed cycles : 4).[0m +215.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386733 ms (missed cycles : 3).[0m +216.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653298 ms (missed cycles : 3).[0m +217.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348850 ms (missed cycles : 3).[0m +218.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357791 ms (missed cycles : 3).[0m +219.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795981 ms (missed cycles : 2).[0m +220.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766336 ms (missed cycles : 5).[0m +221.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806990 ms (missed cycles : 2).[0m +222.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058525 ms (missed cycles : 4).[0m +223.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776765 ms (missed cycles : 2).[0m +225.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551710 ms (missed cycles : 3).[0m +226.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517720 ms (missed cycles : 3).[0m +227.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.360916 ms (missed cycles : 9).[0m +228.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119937 ms (missed cycles : 2).[0m +229.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478568 ms (missed cycles : 2).[0m +230.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801424 ms (missed cycles : 2).[0m +231.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.264591 ms (missed cycles : 6).[0m +232.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705928 ms (missed cycles : 3).[0m +233.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131303 ms (missed cycles : 2).[0m +234.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743204 ms (missed cycles : 2).[0m +235.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660739 ms (missed cycles : 6).[0m +236.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006496 ms (missed cycles : 3).[0m +237.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987750 ms (missed cycles : 3).[0m +238.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320108 ms (missed cycles : 2).[0m +239.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3).[0m +240.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842245 ms (missed cycles : 2).[0m +241.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156677 ms (missed cycles : 4).[0m +242.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715704 ms (missed cycles : 2).[0m +243.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314566 ms (missed cycles : 2).[0m +244.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182535 ms (missed cycles : 2).[0m +245.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269983 ms (missed cycles : 2).[0m +246.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267854 ms (missed cycles : 5).[0m +247.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214089 ms (missed cycles : 4).[0m +248.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946440 ms (missed cycles : 2).[0m +249.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766993 ms (missed cycles : 2).[0m +250.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353457 ms (missed cycles : 3).[0m +251.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250859 ms (missed cycles : 2).[0m +253.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302754 ms (missed cycles : 2).[0m +254.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489221 ms (missed cycles : 5).[0m +255.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361975 ms (missed cycles : 6).[0m +256.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730034 ms (missed cycles : 3).[0m +257.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943491 ms (missed cycles : 5).[0m +258.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2).[0m +259.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180198 ms (missed cycles : 6).[0m +260.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301101 ms (missed cycles : 3).[0m +261.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770692 ms (missed cycles : 3).[0m +261.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 +261.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +261.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1784856610.75987220 seconds +261.92sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784856610.79759312 seconds. +262.29sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +262.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322504 ms (missed cycles : 5).[0m +263.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.718381 ms (missed cycles : 6).[0m +264.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068739 ms (missed cycles : 4).[0m +264.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +265.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485987 ms (missed cycles : 2).[0m +265.77sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708638 ms (missed cycles : 3).[0m +267.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817623 ms (missed cycles : 3).[0m +268.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323745 ms (missed cycles : 3).[0m +269.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355234 ms (missed cycles : 3).[0m +270.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306618 ms (missed cycles : 2).[0m +271.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789024 ms (missed cycles : 2).[0m +272.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784856621.20950294 seconds +272.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121771 ms (missed cycles : 2).[0m +272.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784856621.76364732 seconds. +273.25sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +273.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659600 ms (missed cycles : 3).[0m +274.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857677 ms (missed cycles : 2).[0m +274.84sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +275.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174357 ms (missed cycles : 4).[0m +276.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.342162 ms (missed cycles : 6).[0m +278.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268263 ms (missed cycles : 5).[0m +279.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984869 ms (missed cycles : 3).[0m +280.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282111 ms (missed cycles : 2).[0m +281.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973099 ms (missed cycles : 2).[0m +282.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451991 ms (missed cycles : 3).[0m +283.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325789 ms (missed cycles : 2).[0m +284.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815154 ms (missed cycles : 6).[0m +285.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777863 ms (missed cycles : 4).[0m +286.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692949 ms (missed cycles : 2).[0m +287.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473422 ms (missed cycles : 6).[0m +288.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268226 ms (missed cycles : 2).[0m +289.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382118 ms (missed cycles : 3).[0m +290.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069971 ms (missed cycles : 4).[0m +291.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942679 ms (missed cycles : 3).[0m +292.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527302 ms (missed cycles : 4).[0m +293.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704284 ms (missed cycles : 2).[0m +294.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421154 ms (missed cycles : 3).[0m +295.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112944 ms (missed cycles : 3).[0m +296.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293266 ms (missed cycles : 2).[0m +297.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755660 ms (missed cycles : 2).[0m +298.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780357 ms (missed cycles : 2).[0m +299.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242345 ms (missed cycles : 2).[0m +300.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040071 ms (missed cycles : 3).[0m +301.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459857 ms (missed cycles : 3).[0m +302.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364986 ms (missed cycles : 4).[0m +304.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724108 ms (missed cycles : 3).[0m +304.50sINFOobjective_server_nodePlanning for 36 path waypoints. +305.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740011 ms (missed cycles : 2).[0m +306.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323808 ms (missed cycles : 2).[0m +307.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577596 ms (missed cycles : 6).[0m +308.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722318 ms (missed cycles : 3).[0m +309.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787215 ms (missed cycles : 5).[0m +310.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955039 ms (missed cycles : 3).[0m +311.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287257 ms (missed cycles : 3).[0m +312.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274554 ms (missed cycles : 2).[0m +313.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812860 ms (missed cycles : 2).[0m +314.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432939 ms (missed cycles : 3).[0m +315.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266830 ms (missed cycles : 5).[0m +316.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275323 ms (missed cycles : 4).[0m +317.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157121 ms (missed cycles : 2).[0m +318.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768719 ms (missed cycles : 5).[0m +319.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.346546 ms (missed cycles : 7).[0m +320.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742496 ms (missed cycles : 2).[0m +321.38sINFOobjective_server_nodePlanning for 29 path waypoints. +321.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757373 ms (missed cycles : 2).[0m +322.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745542 ms (missed cycles : 2).[0m +323.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760701 ms (missed cycles : 3).[0m +324.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373052 ms (missed cycles : 6).[0m +325.77sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +325.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727565 ms (missed cycles : 2).[0m +326.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2).[0m +327.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953659 ms (missed cycles : 2).[0m +328.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904729 ms (missed cycles : 2).[0m +329.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.491181 ms (missed cycles : 6).[0m +330.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130731 ms (missed cycles : 2).[0m +331.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914156 ms (missed cycles : 2).[0m +332.29sINFOobjective_server_nodePlanning for 30 path waypoints. +333.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351087 ms (missed cycles : 3).[0m +334.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750962 ms (missed cycles : 3).[0m +335.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121442 ms (missed cycles : 2).[0m +336.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642727 ms (missed cycles : 2).[0m +337.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584808 ms (missed cycles : 4).[0m +338.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573502 ms (missed cycles : 2).[0m +339.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777662 ms (missed cycles : 2).[0m +340.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933706 ms (missed cycles : 2).[0m +341.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147231 ms (missed cycles : 4).[0m +342.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005128 ms (missed cycles : 2).[0m +343.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312116 ms (missed cycles : 2).[0m +344.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.041661 ms (missed cycles : 7).[0m +344.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784856693.75383759 seconds +345.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342574 ms (missed cycles : 3).[0m +345.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784856694.32549763 seconds. +345.85sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +346.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134725 ms (missed cycles : 2).[0m +347.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266939 ms (missed cycles : 2).[0m +348.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718830 ms (missed cycles : 3).[0m +349.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373180 ms (missed cycles : 3).[0m +350.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201266 ms (missed cycles : 4).[0m +351.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471452 ms (missed cycles : 3).[0m +352.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114425 ms (missed cycles : 2).[0m +353.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746602 ms (missed cycles : 2).[0m +354.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345984 ms (missed cycles : 3).[0m +355.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.666954 ms (missed cycles : 8).[0m +356.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050503 ms (missed cycles : 4).[0m +357.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607426 ms (missed cycles : 3).[0m +358.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371855 ms (missed cycles : 4).[0m +359.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207447 ms (missed cycles : 4).[0m +360.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829962 ms (missed cycles : 2).[0m +361.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351560 ms (missed cycles : 2).[0m +362.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666822 ms (missed cycles : 3).[0m +363.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321296 ms (missed cycles : 5).[0m +365.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086139 ms (missed cycles : 5).[0m +366.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655223 ms (missed cycles : 3).[0m +367.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964743 ms (missed cycles : 2).[0m +368.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.985111 ms (missed cycles : 6).[0m +369.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262766 ms (missed cycles : 3).[0m +370.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565350 ms (missed cycles : 4).[0m +371.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186212 ms (missed cycles : 4).[0m +372.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669093 ms (missed cycles : 2).[0m +373.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185439 ms (missed cycles : 4).[0m +374.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308497 ms (missed cycles : 5).[0m +375.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055077 ms (missed cycles : 2).[0m +376.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056736 ms (missed cycles : 2).[0m +377.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604167 ms (missed cycles : 3).[0m +378.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734906 ms (missed cycles : 5).[0m +379.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695628 ms (missed cycles : 3).[0m +380.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404065 ms (missed cycles : 7).[0m +381.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786834 ms (missed cycles : 2).[0m +382.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.718967 ms (missed cycles : 8).[0m +383.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498591 ms (missed cycles : 4).[0m +384.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.991211 ms (missed cycles : 6).[0m +385.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768189 ms (missed cycles : 2).[0m +386.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468036 ms (missed cycles : 4).[0m +387.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817669 ms (missed cycles : 5).[0m +388.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334168 ms (missed cycles : 3).[0m +389.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101626 ms (missed cycles : 2).[0m +390.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563874 ms (missed cycles : 4).[0m +391.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451885 ms (missed cycles : 6).[0m +392.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092821 ms (missed cycles : 2).[0m +393.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108529 ms (missed cycles : 2).[0m +394.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162929 ms (missed cycles : 3).[0m +396.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468482 ms (missed cycles : 3).[0m +397.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430142 ms (missed cycles : 2).[0m +398.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773030 ms (missed cycles : 3).[0m +399.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352459 ms (missed cycles : 3).[0m +400.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.465924 ms (missed cycles : 7).[0m +400.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784856749.01565576 seconds +400.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784856749.57709241 seconds. +401.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467756 ms (missed cycles : 3).[0m +402.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778924 ms (missed cycles : 6).[0m +403.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937843 ms (missed cycles : 2).[0m +404.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588533 ms (missed cycles : 4).[0m +405.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358908 ms (missed cycles : 3).[0m +405.36sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +405.38sINFOobjective_server_nodePath shortcutter: [X__________________X] +405.44sINFOobjective_server_nodePath shortcutter: [X____________________X] +405.53sINFOobjective_server_nodePath shortcutter: [X_________________________X] +405.57sINFOobjective_server_nodeFound path in 0 iterations (1.12e-06 s). +405.71sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +405.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +405.96sINFOobjective_server_nodeFound path in 31 iterations (0.030054 s). +406.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X______X] +406.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351704 ms (missed cycles : 6).[0m +406.36sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +406.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +406.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). +407.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +407.37sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +407.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491644 ms (missed cycles : 3).[0m +408.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495371 ms (missed cycles : 6).[0m +409.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.090722 ms (missed cycles : 7).[0m +410.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852318 ms (missed cycles : 4).[0m +411.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720366 ms (missed cycles : 2).[0m +412.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781315 ms (missed cycles : 2).[0m +413.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784856762.25327635 seconds +413.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193126 ms (missed cycles : 4).[0m +413.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784856762.82977533 seconds. +414.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784856763.36133027 seconds +414.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463055 ms (missed cycles : 4).[0m +415.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784856763.90982485 seconds. +415.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784856764.31019998 seconds +415.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +416.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063865 ms (missed cycles : 2).[0m +416.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321323 ms (missed cycles : 5).[0m +417.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723694 ms (missed cycles : 5).[0m +418.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877198 ms (missed cycles : 2).[0m +419.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699498 ms (missed cycles : 3).[0m +420.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140193 ms (missed cycles : 3).[0m +421.61sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.62sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.62sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.63sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.63sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.64sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.64sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] +421.66sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.66sERRORweb_video_auth_proxy-33process has died [pid 9407, 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']. +421.66sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.67sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.67sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] +421.70sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.71sERRORweb_bridge_auth_proxy-32process has died [pid 9406, 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']. +421.71sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.71sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.72sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.73sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.73sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.74sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.74sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.75sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.75sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.76sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.76sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.76sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +421.77sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +421.79sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +421.81sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +421.83sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +421.85sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +421.87sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +421.90sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] +421.92sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] +421.94sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system +421.94sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] +421.97sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] +422.00sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] +422.02sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] +422.04sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] +422.06sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9402] +422.06sINFOweb_video_server-31process has finished cleanly [pid 9405] +422.07sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] +422.09sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +422.12sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] +422.12sERRORmove_group-19process has died [pid 9369, 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_7td3pf1i --params-file /tmp/launch_params_8y5p8kmh --params-file /tmp/launch_params_drg5wpxd --params-file /tmp/launch_params_05v8lsu0 --params-file /tmp/launch_params_46b4606w --params-file /tmp/launch_params_5wwudlc1']. +422.15sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] +422.15sERRORui_teleop_bridge-28process has died [pid 9400, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_zc4jjr5n']. +422.17sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +422.19sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +422.21sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +422.21sINFOexecute_objective_bridge-27process has finished cleanly [pid 9399] +422.21sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +422.21sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +422.21sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +422.21sERRORui_teleop_bridgeTraceback (most recent call last): +422.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +422.21sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +422.21sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +422.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main +422.21sINFOui_teleop_bridgerclpy.shutdown() +422.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +422.21sINFOui_teleop_bridge_shutdown(context=context) +422.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +422.22sINFOui_teleop_bridgecontext.shutdown() +422.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +422.22sINFOui_teleop_bridgeself.__context.shutdown() +422.22sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +422.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +422.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +422.22sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +422.22sINFOcomponent_container_mtStopping planning scene monitor[0m +422.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +422.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112315 ms (missed cycles : 2).[0m +422.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +422.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +422.23sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +422.23sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +422.23sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +422.23sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +422.23sERRORmove_groupwhat(): context cannot be slept with because it's invalid +422.23sERRORmove_groupStack trace (most recent call last) in thread 9988: +422.23sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +422.23sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f454f4fda63, in __clone +422.23sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f454f470aa3, in +422.23sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f454f702db3, in +422.23sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f454fe45ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +422.23sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f454fa754d0, in rclcpp::Rate::sleep() +422.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f454f9c8a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +422.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f454f98da71, in +422.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f454f6d1390, in __cxa_throw +422.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f454f6bba54, in std::terminate() +422.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f454f6d10d9, in +422.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f454f6bbff4, in +422.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f454f3fc8fe, in abort +422.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f454f41927d, in raise +422.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f454f472b2c, in pthread_kill +422.23sERRORmove_groupAborted (Signal sent by tkill() 9369 0) +422.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +422.23sINFOros2_control_nodeShutdown request received....[0m +422.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +422.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +422.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +422.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +422.23sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +422.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +422.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +422.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +422.23sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +422.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +422.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +422.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +422.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +422.23sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +422.23sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +422.23sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +422.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +422.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +422.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +422.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +422.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +422.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +422.23sINFOros2_control_nodeShutting down the controller manager.[0m +422.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +422.23sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 +422.24sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +422.24sERRORobjective_server_node_main-24process has died [pid 9394, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_w4mp5br3 --params-file /tmp/launch_params_5j8to9lx --params-file /tmp/launch_params_u0_3xvz2 --params-file /tmp/launch_params__5j5frp0 --params-file /tmp/launch_params_ngjo1575 --params-file /tmp/launch_params_00uzzhy8 --params-file /tmp/launch_params_o9aiqjow --params-file /tmp/launch_params_8qjp6sex --params-file /tmp/launch_params_epbgapo4']. +422.24sINFOobjective_server_node[2026-07-24 01:32:50.985] [moveit_pro_license] [info] +422.24sINFOobjective_server_node* Application has successfully terminated +422.24sERRORobjective_server_nodeStack trace (most recent call last): +422.24sERRORodom_qos_relay.pyTraceback (most recent call last): +422.24sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +422.24sINFOodom_qos_relay.pymain() +422.24sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +422.24sINFOodom_qos_relay.pyrclpy.spin(node) +422.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +422.24sINFOodom_qos_relay.pyexecutor.spin_once() +422.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +422.24sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +422.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +422.24sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +422.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +422.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +422.24sINFOodom_qos_relay.pyreturn next(self._cb_iter) +422.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +422.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +422.24sINFOodom_qos_relay.pyraise ExternalShutdownException() +422.24sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +422.24sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +422.24sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5646d99886a4, in _start +422.24sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd23dc228a, in __libc_start_main +422.24sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd23dc21d0, in +422.24sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd23ddfbbd, in exit +422.24sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdd23ddfa75, in +422.24sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fdd242ae8f5, in spdlog::details::registry::~registry() +422.24sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5646d9988d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +422.24sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5646d998f315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +422.24sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5646d998e5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +422.24sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5646d998ab7b, in spdlog_ros::RosSink::~RosSink() +422.24sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5646d9988d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +422.24sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd24964454, in rclcpp::Node::~Node() +422.24sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd2491f515, in +422.24sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd24962d20, in +422.24sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd24962c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +422.24sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd2491f5d9, in +422.24sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdd24924161, in rclcpp::CallbackGroup::~CallbackGroup() +422.24sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fdcd1bd1090]) +422.24sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +422.25sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system +422.29sINFOros2_control_nodeAsync messages lost 0[0m ×2 +422.29sINFOros2_control_nodepublish_async_failures_ 3[0m +422.30sINFOros2_control_nodepublish_async_failures_ 4[0m +422.99sINFOcomponent_container_mt-26process has finished cleanly [pid 9398] +423.01sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9392] +423.03sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9372] +423.09sINFOparameter_manager_node-20process has finished cleanly [pid 9370] +423.11sINFOwaypoint_manager_node-21process has finished cleanly [pid 9371] +423.15sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9290] +423.15sINFOcomponent_container_mt-25process has finished cleanly [pid 9397] +423.16sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9289] +423.21sINFOstatic_transform_publisher-3process has finished cleanly [pid 9287] +423.23sINFOstatic_transform_publisher-2process has finished cleanly [pid 9286] +423.25sERRORodom_qos_relay.py-4process has died [pid 9288, 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']. +424.66sINFOweb_bridge-29process has finished cleanly [pid 9401] +424.66sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +424.90sINFOros2_control_node-7process has finished cleanly [pid 9291] +426.62sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +426.64sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +426.65sERRORcomponent_container_isolated-1process has died [pid 9285, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_x6gpxjb6 --params-file /tmp/launch_params_kotrauk3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +434.54sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-24-01-33-00-155996-f4773bf34838-10320 ×2 +447.39sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' +447.39sINFOstatic_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' +447.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +447.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +447.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +447.47sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +447.47sINFOcontroller_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. +447.49sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +447.49sINFOcontroller_managerupdate rate is 600 Hz +447.49sINFOcontroller_managerOverruns handling is : enabled +447.49sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +447.49sWARNcontroller_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. +447.52sINFOcontroller_serverCreating controller server +447.54sINFOlocal_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. +447.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745396 ms (missed cycles : 5). +447.54sINFOlocal_costmap.local_costmapCreating Costmap +447.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +447.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +447.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +447.56sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +447.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +447.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +447.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +447.60sINFOsmoother_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. +447.62sINFOsmoother_serverCreating smoother server +447.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +447.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +447.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +447.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +447.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +447.67sINFOmap_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. +447.67sINFOmap_serverCreating +447.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +447.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +447.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +447.69sINFOplanner_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. +447.71sINFOros2_control_node-7process started with pid [10376] ×2 +447.72sINFOplanner_serverCreating +447.73sINFOmove_group-19process started with pid [10472] ×2 +447.73sINFOparameter_manager_node-20process started with pid [10473] ×2 +447.73sINFOwaypoint_manager_node-21process started with pid [10474] ×2 +447.73sINFOmove_joint_resampler_node-22process started with pid [10475] ×2 +447.73sINFOmove_end_effector_resampler_node-23process started with pid [10482] ×2 +447.73sINFOobjective_server_node_main-24process started with pid [10483] ×2 +447.73sINFOcomponent_container_mt-25process started with pid [10487] ×2 +447.73sINFOcomponent_container_mt-26process started with pid [10489] ×2 +447.73sINFOexecute_objective_bridge-27process started with pid [10491] ×2 +447.73sINFOui_teleop_bridge-28process started with pid [10492] ×2 +447.73sINFOweb_bridge-29process started with pid [10493] ×2 +447.73sINFOtf2_web_republisher_node-30process started with pid [10494] ×2 +447.73sINFOweb_video_server-31process started with pid [10495] ×2 +447.73sINFOweb_bridge_auth_proxy-32process started with pid [10496] ×2 +447.73sINFOweb_video_auth_proxy-33process started with pid [10497] ×2 +447.73sINFOcomponent_container_isolated-1process started with pid [10370] ×2 +447.73sINFOstatic_transform_publisher-2process started with pid [10371] ×2 +447.73sINFOstatic_transform_publisher-3process started with pid [10372] ×2 +447.73sINFOodom_qos_relay.py-4process started with pid [10373] ×2 +447.73sINFOscan_to_scan_filter_chain-5process started with pid [10374] ×2 +447.73sINFOscan_to_scan_filter_chain-6process started with pid [10375] ×2 +447.73sINFOros2-8process started with pid [10377] ×2 +447.73sINFOros2-9process started with pid [10444] ×2 +447.73sINFOros2-10process started with pid [10445] ×2 +447.73sINFOros2-11process started with pid [10446] ×2 +447.74sINFOros2-12process started with pid [10447] ×2 +447.74sINFOros2-13process started with pid [10448] ×2 +447.74sINFOros2-14process started with pid [10449] ×2 +447.74sINFOros2-15process started with pid [10450] ×2 +447.74sINFOros2-16process started with pid [10452] ×2 +447.74sINFOros2-17process started with pid [10457] ×2 +447.74sINFOros2-18process started with pid [10471] ×2 +447.76sINFOglobal_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. +447.77sINFOglobal_costmap.global_costmapCreating Costmap +447.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +447.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +447.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +447.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +447.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +447.83sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +447.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +447.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +447.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745396 ms (missed cycles : 5).[0m ×2 +447.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +447.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +447.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +447.96sINFObehavior_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. +447.97sINFOrobot_state_publisherRobot initialized +447.97sINFOcontroller_managerReceived robot description from topic. +447.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +447.99sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +448.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +448.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +448.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +448.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +448.08sINFOlifecycle_manager_localizationCreating +448.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +448.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +448.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +448.11sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +448.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +448.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +448.13sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +448.13sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +448.13sINFOmap_serverConfiguring +448.15sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +448.20sINFObt_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. +448.24sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +448.24sINFOamclConfiguring +448.24sINFObt_navigatorCreating +448.24sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +448.24sINFOmap_serverActivating +448.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. +448.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +448.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +448.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +448.31sINFOwaypoint_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. +448.31sINFOwaypoint_followerCreating +448.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +448.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +448.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +448.35sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.387961 seconds +448.35sINFOmove_groupLoaded robot model in 0.387961 seconds[0m ×2 +448.35sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +448.35sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +448.36sINFOlifecycle_manager_localizationServer map_server connected with bond. +448.36sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +448.36sINFOamclActivating +448.36sINFOamclSubscribed to initial_pose_topic: /initialpose +448.36sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +448.36sINFOamclSubscribed to map_topic: /map +448.36sINFOamclSubscribed to scan_topic: /scan_merged +448.36sINFOamclCreated reinitialize_global_localization service +448.36sINFOamclCreated request_nomotion_update service +448.37sINFOvelocity_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. +448.38sINFOamclA new map was received +448.38sINFOamclInitializing particle filter instance +448.39sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +448.40sWARNlaser_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. +448.40sINFOlifecycle_manager_navigationCreating +448.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +448.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +448.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +448.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +448.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +448.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +448.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +448.41sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +448.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +448.42sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +448.44sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +448.44sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +448.45sINFOcontroller_serverConfiguring controller interface +448.45sINFOcontroller_servergetting progress checker plugins.. +448.45sINFOcontroller_servergetting goal checker plugins.. +448.45sINFOcontroller_serverController frequency set to 20.0000Hz +448.45sINFOlocal_costmap.local_costmapConfiguring +448.46sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +448.47sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +448.51sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +448.51sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +448.51sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +448.56sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +448.56sINFOcontroller_serverController Server has progress_checker progress checkers available. +448.56sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +448.57sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +448.57sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +448.59sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +448.60sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +448.60sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +448.61sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +448.61sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +448.61sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +448.61sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +448.62sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +448.62sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +448.63sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +448.63sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +448.63sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +448.64sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +448.64sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +448.64sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +448.64sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +448.64sINFOcontroller_serverOptimizer reset +448.66sINFOcontroller_serverController Server has FollowPath controllers available. +448.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958274 ms (missed cycles : 3). +448.67sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +448.67sINFOsmoother_serverConfiguring smoother server +448.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958274 ms (missed cycles : 3).[0m ×2 +448.69sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +448.71sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +448.72sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +448.72sINFOplanner_serverConfiguring +448.72sINFOglobal_costmap.global_costmapConfiguring +448.72sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +448.73sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +448.73sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +448.73sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +448.75sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +448.76sINFOamclParticle filter initialization completed +448.76sINFOamclInitializing particles from estimated pose and covariance +448.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +448.78sINFOwaypoint_manager_nodeLoaded robot model in 0.385949 seconds[0m ×2 +448.81sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +448.81sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +448.82sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +448.87sINFOlifecycle_manager_localizationServer amcl connected with bond. +448.87sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +448.87sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +448.87sINFOamclThe bond connection to the lifecycle manager is now fully formed +448.87sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +448.87sINFOplanner_serverCleaning up +448.87sINFOglobal_costmap.global_costmapCleaning up +448.87sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +448.92sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +448.92sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +449.05sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +449.05sWARNmove_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. +449.05sWARNmove_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. +449.05sWARNmove_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. +449.05sWARNmove_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. +449.06sWARNmove_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. +449.06sWARNmove_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. +449.07sWARNmove_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. +449.07sWARNmove_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. +449.07sWARNmove_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. +449.07sWARNmove_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. +449.31sWARNwaypoint_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. +449.32sWARNwaypoint_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. +449.32sWARNwaypoint_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. +449.33sWARNwaypoint_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. +449.33sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +449.33sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +449.34sWARNwaypoint_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. +449.35sWARNwaypoint_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. +449.35sWARNwaypoint_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. +449.35sWARNwaypoint_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. +449.36sWARNwaypoint_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. +449.36sWARNwaypoint_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. +449.37sWARNwaypoint_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. +449.37sWARNwaypoint_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. +449.37sWARNwaypoint_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. +449.37sWARNwaypoint_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. +449.38sWARNwaypoint_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. +449.38sWARNwaypoint_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. +449.39sWARNwaypoint_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. +449.39sWARNwaypoint_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. +449.40sWARNwaypoint_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. +449.40sWARNwaypoint_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. +449.40sWARNwaypoint_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. +449.40sWARNwaypoint_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. +449.40sWARNwaypoint_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. +449.40sWARNwaypoint_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. +449.41sWARNwaypoint_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. +449.41sWARNwaypoint_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. +449.41sWARNwaypoint_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. +449.41sWARNwaypoint_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. +449.53sINFOmove_group[2026-07-24 01:33:18.405] [moveit_pro_license] [info] ×2 +449.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.342161 ms (missed cycles : 6). +449.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.342161 ms (missed cycles : 6).[0m ×2 +449.87sINFOwaypoint_manager_node[2026-07-24 01:33:18.751] [moveit_pro_license] [info] ×2 +450.05sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +450.12sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +450.12sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +450.12sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +450.12sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +450.12sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +450.13sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +450.13sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +450.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +450.13sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +450.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +450.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +450.36sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +450.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. +450.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +450.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +450.41sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +450.41sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +450.56sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +450.56sINFOcontroller_managerLoading controller 'joint_velocity_controller' +450.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +450.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +450.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +450.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +450.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +450.74sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +450.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +450.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883170 ms (missed cycles : 2). +450.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883170 ms (missed cycles : 2).[0m ×2 +450.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +450.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +451.21sINFOobjective_server_node[2026-07-24 01:33:20.084] [moveit_pro_license] [info] ×2 +451.29sINFOobjective_server_nodeLoaded robot model in 0.0309371 seconds[0m ×2 +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +451.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +451.31sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +451.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +451.35sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +451.36sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +451.36sINFOstreaming_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) +451.37sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +451.38sINFOros2_control_node[2026-07-24 01:33:20.257] [info] Controller state will be published at 20 Hz. ×2 +451.38sINFOros2_control_node[2026-07-24 01:33:20.259] [info] JointVelocityController 'on_configure' succeeded. ×2 +451.38sINFOcomponent_container_mtLoaded robot model in 0.431574 seconds[0m ×2 +451.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +451.56sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +451.60sINFOstreaming_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) +451.60sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784856799.368 for reason 'discarding message because the queue is full' +451.64sINFOmove_groupMoveGroup debug mode is ON +451.76sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.76sWARNobjective_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. +451.79sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +451.80sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +451.80sINFOcontroller_managerLoading controller 'platform_velocity_controller' +451.80sINFOros2-17process has finished cleanly [pid 10457] ×2 +451.80sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +451.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +451.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768158 ms (missed cycles : 2). +451.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768158 ms (missed cycles : 2).[0m ×2 +451.84sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+451.84sWARNplanning_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. +451.84sWARNplanning_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. +451.84sWARNplanning_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. +451.85sWARNplanning_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. +451.85sWARNplanning_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. +451.85sWARNplanning_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. +451.85sWARNplanning_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. +451.85sWARNplanning_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. +451.85sWARNplanning_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. +451.85sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +451.85sWARNplanning_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. +451.85sWARNplanning_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. +451.86sWARNplanning_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. +451.86sWARNplanning_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. +451.86sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +451.86sWARNplanning_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. +451.86sWARNplanning_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. +451.86sWARNplanning_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. +451.86sINFOplatform_velocity_controllerconfigure successful +451.86sWARNplanning_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. +451.86sWARNplanning_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. +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +451.87sWARNplanning_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. +451.87sINFOcontroller_managerSuccessfully switched controllers! ×8 +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.87sWARNplanning_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. +451.88sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +452.12sINFOcomponent_container_mt[2026-07-24 01:33:20.995] [moveit_pro_license] [info] ×2 +452.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +452.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +452.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +452.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +452.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +452.33sINFOros2-11process has finished cleanly [pid 10446] ×2 +452.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +452.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +452.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +452.37sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +452.37sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +452.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +452.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +452.50sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 4.206ms +452.75sINFOros2-10process has finished cleanly [pid 10445] ×2 +452.76sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +452.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078365 ms (missed cycles : 2). +452.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078365 ms (missed cycles : 2).[0m ×2 +453.02sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +453.02sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +453.02sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +453.02sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +453.05sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +453.05sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +453.41sINFOros2_control_node[2026-07-24 01:33:22.285] [info] Controller state will be published at 20 Hz. ×2 +453.41sINFOros2_control_node[2026-07-24 01:33:22.286] [info] JointVelocityController 'on_configure' succeeded. ×2 +453.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +453.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +453.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +453.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +453.80sINFOros2-18process has finished cleanly [pid 10471] ×2 +453.83sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +453.83sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +453.84sINFOforce_torque_sensor_broadcasterconfigure successful +453.84sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +453.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +453.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787247 ms (missed cycles : 2). +453.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787247 ms (missed cycles : 2).[0m ×2 +454.18sINFOros2-8process has finished cleanly [pid 10377] ×2 +454.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +454.18sINFOcontroller_managerLoading controller 'vacuum_gripper' +454.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +454.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +454.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +454.25sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +454.26sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +454.26sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +454.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +454.27sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +454.61sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +454.62sINFOros2-12process has finished cleanly [pid 10447] ×2 +454.87sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +454.87sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +454.87sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +454.87sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +454.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425204 ms (missed cycles : 2). +454.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425204 ms (missed cycles : 2).[0m ×2 +454.90sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +454.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +454.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +454.92sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +455.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +455.25sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +455.25sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +455.26sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +455.27sINFOros2-9process has finished cleanly [pid 10444] ×2 +455.34sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +455.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +455.35sINFOplatform_velocity_controller_nav2configure successful +455.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +455.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +455.73sINFOros2-13process has finished cleanly [pid 10448] ×2 +455.79sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +455.79sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +455.87sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +455.87sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +455.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828544 ms (missed cycles : 3). +455.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828544 ms (missed cycles : 3).[0m ×2 +456.23sINFOros2_control_node[2026-07-24 01:33:25.108] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +456.23sINFOros2_control_node[2026-07-24 01:33:25.111] [info] Controller state will be published at 10 Hz. ×2 +456.24sINFOros2_control_node[2026-07-24 01:33:25.112] [info] VelocityForceController 'on_configure' succeeded. ×2 +456.61sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +456.61sINFOcontroller_managerLoading controller 'velocity_force_controller' +456.61sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +456.61sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +456.62sINFOros2-16process has finished cleanly [pid 10452] ×2 +456.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +456.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +456.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248041 ms (missed cycles : 2). +456.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248041 ms (missed cycles : 2).[0m ×2 +457.33sINFOros2_control_node[2026-07-24 01:33:26.209] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +457.33sINFOros2_control_node[2026-07-24 01:33:26.211] [info] Controller state will be published at 10 Hz. ×2 +457.34sINFOros2_control_node[2026-07-24 01:33:26.212] [info] VelocityForceController 'on_configure' succeeded. ×2 +457.70sINFOros2-15process has finished cleanly [pid 10450] ×2 +457.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +457.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +457.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d +457.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wvqzov4_ --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_q8kln53a --params-file /tmp/launch_params_n9v0iv6d [0m ×2 +457.88sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +457.88sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +457.88sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +457.88sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +457.88sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +457.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +457.89sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +457.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692144 ms (missed cycles : 2). +457.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692144 ms (missed cycles : 2).[0m ×2 +458.22sINFOros2-14process has finished cleanly [pid 10449] ×2 +458.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037227 ms (missed cycles : 4). +458.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037227 ms (missed cycles : 4).[0m ×2 +459.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). +459.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 +460.42sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +460.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). +460.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 +461.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). +461.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 +463.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). +463.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 +463.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 +463.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +463.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +463.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 +463.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 +463.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 +464.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). +464.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 +464.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 +464.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 +465.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). +465.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 +465.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 +465.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +465.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +465.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +465.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +465.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +465.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +465.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 +465.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 +465.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +465.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +465.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass25 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 74.3s | 3 errors · 234 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808533 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808533 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 4.237ms + 0.61sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 3.398ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644815 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644815 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 2.244ms + 1.61sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.635ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924267 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924267 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.755ms + 2.61sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.302ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957483 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957483 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 3.57sINFOjoint_trajectory_controllerGot request to cancel goal + 3.57sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.57sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.57sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784857023.77085876 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.257ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.035ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711987 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711987 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784857024.33618569 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017454 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017454 ms (missed cycles : 2).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.936ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.272ms + 5.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699772 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699772 ms (missed cycles : 5).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 7.130ms + 6.72sINFOamclParticle filter update iteration stats: 3679 particles 723 points - 9.435ms + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326721 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326721 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577498 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577498 ms (missed cycles : 4).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 3.541ms + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703129 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703129 ms (missed cycles : 2).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 3.144ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396361 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396361 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 10.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490722 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490722 ms (missed cycles : 3).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693536 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693536 ms (missed cycles : 2).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548850 ms (missed cycles : 4). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548850 ms (missed cycles : 4).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502197 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502197 ms (missed cycles : 3).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms ×2 + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824013 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824013 ms (missed cycles : 4).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201177 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201177 ms (missed cycles : 2).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856601 ms (missed cycles : 3).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599390 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599390 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.249294 ms (missed cycles : 5). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.249294 ms (missed cycles : 5).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839026 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839026 ms (missed cycles : 2).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216392 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216392 ms (missed cycles : 2).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200568 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200568 ms (missed cycles : 2).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539800 ms (missed cycles : 6). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539800 ms (missed cycles : 6).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508250 ms (missed cycles : 4). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508250 ms (missed cycles : 4).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708587 ms (missed cycles : 3). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708587 ms (missed cycles : 3).[0m ×2 + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305831 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305831 ms (missed cycles : 2).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301622 ms (missed cycles : 2). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301622 ms (missed cycles : 2).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.231544 ms (missed cycles : 5). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.231544 ms (missed cycles : 5).[0m ×2 + 29.13sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332986 ms (missed cycles : 3). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332986 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269836 ms (missed cycles : 5). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269836 ms (missed cycles : 5).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013731 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013731 ms (missed cycles : 2).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 33.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850699 ms (missed cycles : 6). + 33.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850699 ms (missed cycles : 6).[0m ×2 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243241 ms (missed cycles : 2). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243241 ms (missed cycles : 2).[0m ×2 + 34.27sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.90sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 714.867031 ms (missed cycles : 429). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 714.867031 ms (missed cycles : 429).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.916101 ms (missed cycles : 6). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.916101 ms (missed cycles : 6).[0m ×2 + 37.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030591 ms (missed cycles : 7). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030591 ms (missed cycles : 7).[0m ×2 + 38.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597304 ms (missed cycles : 4). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597304 ms (missed cycles : 4).[0m ×2 + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 39.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864338 ms (missed cycles : 2). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864338 ms (missed cycles : 2).[0m ×2 + 40.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226594 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226594 ms (missed cycles : 2).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 41.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966758 ms (missed cycles : 3). + 41.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966758 ms (missed cycles : 3).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738464 ms (missed cycles : 3). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738464 ms (missed cycles : 3).[0m ×2 + 43.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538552 ms (missed cycles : 4). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538552 ms (missed cycles : 4).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200884 ms (missed cycles : 2). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200884 ms (missed cycles : 2).[0m ×2 + 45.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086658 ms (missed cycles : 6). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086658 ms (missed cycles : 6).[0m ×2 + 46.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.261886 ms (missed cycles : 6). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.261886 ms (missed cycles : 6).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992213 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992213 ms (missed cycles : 2).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187883 ms (missed cycles : 2). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187883 ms (missed cycles : 2).[0m ×2 + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637092 ms (missed cycles : 4). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637092 ms (missed cycles : 4).[0m ×2 + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525734 ms (missed cycles : 4). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525734 ms (missed cycles : 4).[0m ×2 + 51.86sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425512 ms (missed cycles : 4). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425512 ms (missed cycles : 4).[0m ×2 + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617350 ms (missed cycles : 6). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617350 ms (missed cycles : 6).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 54.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.253097 ms (missed cycles : 5). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.253097 ms (missed cycles : 5).[0m ×2 + 55.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310404 ms (missed cycles : 3). + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310404 ms (missed cycles : 3).[0m ×2 + 55.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031531 ms (missed cycles : 5). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031531 ms (missed cycles : 5).[0m ×2 + 57.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409689 ms (missed cycles : 3). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409689 ms (missed cycles : 3).[0m ×2 + 58.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 58.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685806 ms (missed cycles : 2). + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685806 ms (missed cycles : 2).[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 59.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711383 ms (missed cycles : 2). + 59.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711383 ms (missed cycles : 2).[0m ×2 + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106429 ms (missed cycles : 2). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106429 ms (missed cycles : 2).[0m ×2 + 61.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 61.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160293 ms (missed cycles : 2). + 61.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160293 ms (missed cycles : 2).[0m ×2 + 62.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288354 ms (missed cycles : 4). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288354 ms (missed cycles : 4).[0m ×2 + 63.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726354 ms (missed cycles : 2). + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726354 ms (missed cycles : 2).[0m ×2 + 64.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 64.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337674 ms (missed cycles : 3). + 64.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337674 ms (missed cycles : 3).[0m ×2 + 65.07sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 65.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781688 ms (missed cycles : 2). + 65.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781688 ms (missed cycles : 2).[0m ×2 + 66.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275530 ms (missed cycles : 2). + 66.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275530 ms (missed cycles : 2).[0m ×2 + 67.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784509 ms (missed cycles : 3). + 67.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784509 ms (missed cycles : 3).[0m ×2 + 68.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.389967 ms (missed cycles : 6). + 68.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.389967 ms (missed cycles : 6).[0m ×2 + 69.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 69.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708189 ms (missed cycles : 2). + 69.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708189 ms (missed cycles : 2).[0m ×2 + 69.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 70.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684223 ms (missed cycles : 5). + 70.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684223 ms (missed cycles : 5).[0m ×2 + 71.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830748 ms (missed cycles : 2). + 71.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830748 ms (missed cycles : 2).[0m ×2 + 72.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 72.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018825 ms (missed cycles : 2). + 72.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018825 ms (missed cycles : 2).[0m ×2 + 72.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 73.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 73.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047059 ms (missed cycles : 3). + 73.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047059 ms (missed cycles : 3).[0m ×2 + 74.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 74.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 75.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 75.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 76.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 76.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 76.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 77.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 77.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 77.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 78.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 78.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 78.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 78.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 78.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 78.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 78.87sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 79.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 79.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 79.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 79.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 79.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 79.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 80.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 80.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 80.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 81.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 58.2s | 186 warnings · 171 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.74sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784856954.66174674 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.516ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 4.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784856955.23121762 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 6.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.833ms + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765895 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765895 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181662 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181662 ms (missed cycles : 2).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.311ms + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.607ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275101 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275101 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 10.51sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 5.483ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856494 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856494 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 4518 particles 723 points - 4.974ms + 11.51sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 4.610ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490112 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490112 ms (missed cycles : 3).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 3.838ms + 12.50sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 3.501ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795173 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795173 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 2554 particles 723 points - 3.243ms + 13.50sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 3.518ms + 14.00sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.204ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413300 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413300 ms (missed cycles : 3).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.478ms + 15.00sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.524ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912534 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912534 ms (missed cycles : 3).[0m ×2 + 15.51sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.271ms + 16.01sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.985ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759896 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759896 ms (missed cycles : 2).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155355 ms (missed cycles : 5). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155355 ms (missed cycles : 5).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447390 ms (missed cycles : 4). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447390 ms (missed cycles : 4).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649363 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649363 ms (missed cycles : 2).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923237 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923237 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880578 ms (missed cycles : 3). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880578 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777417 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777417 ms (missed cycles : 3).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508827 ms (missed cycles : 4). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508827 ms (missed cycles : 4).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.852609 ms (missed cycles : 6). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.852609 ms (missed cycles : 6).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999704 ms (missed cycles : 3). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999704 ms (missed cycles : 3).[0m ×2 + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396801 ms (missed cycles : 3). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396801 ms (missed cycles : 3).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.765243 ms (missed cycles : 7). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.765243 ms (missed cycles : 7).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.756847 ms (missed cycles : 6). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.756847 ms (missed cycles : 6).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822280 ms (missed cycles : 3). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822280 ms (missed cycles : 3).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612139 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612139 ms (missed cycles : 3).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007032 ms (missed cycles : 2). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007032 ms (missed cycles : 2).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579349 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579349 ms (missed cycles : 3).[0m ×2 + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334814 ms (missed cycles : 3). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334814 ms (missed cycles : 3).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670412 ms (missed cycles : 6). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670412 ms (missed cycles : 6).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416222 ms (missed cycles : 4). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416222 ms (missed cycles : 4).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628620 ms (missed cycles : 2). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628620 ms (missed cycles : 2).[0m ×2 + 37.38sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.02sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346311 ms (missed cycles : 5). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346311 ms (missed cycles : 5).[0m ×2 + 38.42sINFOros2_control_nodeMuJoCo sim: 0.87% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066906 ms (missed cycles : 5). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066906 ms (missed cycles : 5).[0m ×2 + 39.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872850 ms (missed cycles : 2). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872850 ms (missed cycles : 2).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 40.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756876 ms (missed cycles : 5). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756876 ms (missed cycles : 5).[0m ×2 + 41.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 42.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827719 ms (missed cycles : 2). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827719 ms (missed cycles : 2).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 43.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998646 ms (missed cycles : 2). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998646 ms (missed cycles : 2).[0m ×2 + 44.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489065 ms (missed cycles : 3). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489065 ms (missed cycles : 3).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507621 ms (missed cycles : 6). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507621 ms (missed cycles : 6).[0m ×2 + 46.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779886 ms (missed cycles : 4). + 46.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779886 ms (missed cycles : 4).[0m ×2 + 46.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 47.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.826827 ms (missed cycles : 6). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.826827 ms (missed cycles : 6).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388510 ms (missed cycles : 3). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388510 ms (missed cycles : 3).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069961 ms (missed cycles : 2). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069961 ms (missed cycles : 2).[0m ×2 + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933498 ms (missed cycles : 2). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933498 ms (missed cycles : 2).[0m ×2 + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407150 ms (missed cycles : 2). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407150 ms (missed cycles : 2).[0m ×2 + 51.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 52.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743428 ms (missed cycles : 2). + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743428 ms (missed cycles : 2).[0m ×2 + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.988685 ms (missed cycles : 6). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.988685 ms (missed cycles : 6).[0m ×2 + 53.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469536 ms (missed cycles : 3). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469536 ms (missed cycles : 3).[0m ×2 + 55.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968066 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968066 ms (missed cycles : 2).[0m ×2 + 56.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.151301 ms (missed cycles : 5). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.151301 ms (missed cycles : 5).[0m ×2 + 57.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215924 ms (missed cycles : 2). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215924 ms (missed cycles : 2).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 58.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931882 ms (missed cycles : 3). + 58.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931882 ms (missed cycles : 3).[0m ×2 + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197686 ms (missed cycles : 4). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197686 ms (missed cycles : 4).[0m ×2 + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114623 ms (missed cycles : 2). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114623 ms (missed cycles : 2).[0m ×2 + 61.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1784857012.85136962 seconds ×3 + 62.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832519 ms (missed cycles : 3). + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832519 ms (missed cycles : 3).[0m ×2 + 62.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.706ms + 62.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 62.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.042ms + 62.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784857013.41133070 seconds. ×3 + 62.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.303ms + 62.88sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 63.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345195 ms (missed cycles : 3). + 63.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345195 ms (missed cycles : 3).[0m ×2 + 63.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.587ms + 63.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.685ms + 63.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 64.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 64.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807953 ms (missed cycles : 3). + 64.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807953 ms (missed cycles : 3).[0m ×2 + 64.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.640ms + 64.39sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 186 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3).[0m ×2 + 0.10sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.10sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856857.59609985 seconds ×3 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856858.15598011 seconds. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (2.674e-05 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.68sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.68sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.68sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.68sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784856861.23614287 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562231 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562231 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784856861.79253531 seconds. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785903 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785903 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098444 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098444 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342145 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342145 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731178 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731178 ms (missed cycles : 2).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 1.792ms + 8.93sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.579ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870533 ms (missed cycles : 5). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870533 ms (missed cycles : 5).[0m ×2 + 9.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 9.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731504 ms (missed cycles : 5). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731504 ms (missed cycles : 5).[0m ×2 + 10.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 10.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154555 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154555 ms (missed cycles : 2).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 11.85sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 12.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855104 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855104 ms (missed cycles : 2).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466530 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466530 ms (missed cycles : 3).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078488 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078488 ms (missed cycles : 2).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733662 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733662 ms (missed cycles : 3).[0m ×2 + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529105 ms (missed cycles : 4). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529105 ms (missed cycles : 4).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482497 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482497 ms (missed cycles : 3).[0m ×2 + 17.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192753 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192753 ms (missed cycles : 2).[0m ×2 + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795998 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795998 ms (missed cycles : 2).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 20.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156231 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156231 ms (missed cycles : 2).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241277 ms (missed cycles : 3). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241277 ms (missed cycles : 3).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565197 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565197 ms (missed cycles : 2).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783410 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783410 ms (missed cycles : 2).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686251 ms (missed cycles : 3). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686251 ms (missed cycles : 3).[0m ×2 + 24.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017939 ms (missed cycles : 4). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017939 ms (missed cycles : 4).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms ×2 + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964637 ms (missed cycles : 2). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964637 ms (missed cycles : 2).[0m ×2 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183102 ms (missed cycles : 4). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183102 ms (missed cycles : 4).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630937 ms (missed cycles : 3). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630937 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254592 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254592 ms (missed cycles : 2).[0m ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 30.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051800 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051800 ms (missed cycles : 2).[0m ×2 + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941771 ms (missed cycles : 3). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941771 ms (missed cycles : 3).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623884 ms (missed cycles : 6). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623884 ms (missed cycles : 6).[0m ×2 + 33.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073038 ms (missed cycles : 2). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073038 ms (missed cycles : 2).[0m ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951857 ms (missed cycles : 5). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951857 ms (missed cycles : 5).[0m ×2 + 35.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558864 ms (missed cycles : 4). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558864 ms (missed cycles : 4).[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271719 ms (missed cycles : 2). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271719 ms (missed cycles : 2).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467625 ms (missed cycles : 4). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467625 ms (missed cycles : 4).[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243914 ms (missed cycles : 2). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243914 ms (missed cycles : 2).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379022 ms (missed cycles : 3). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379022 ms (missed cycles : 3).[0m ×2 + 41.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992915 ms (missed cycles : 3). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992915 ms (missed cycles : 3).[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950016 ms (missed cycles : 6). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950016 ms (missed cycles : 6).[0m ×2 + 43.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872845 ms (missed cycles : 2). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872845 ms (missed cycles : 2).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202273 ms (missed cycles : 2). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202273 ms (missed cycles : 2).[0m ×2 + 45.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689891 ms (missed cycles : 5). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689891 ms (missed cycles : 5).[0m ×2 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924317 ms (missed cycles : 2). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924317 ms (missed cycles : 2).[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254578 ms (missed cycles : 2). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254578 ms (missed cycles : 2).[0m ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945956 ms (missed cycles : 2). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945956 ms (missed cycles : 2).[0m ×2 + 48.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142372 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142372 ms (missed cycles : 2).[0m ×2 + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242390 ms (missed cycles : 3). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242390 ms (missed cycles : 3).[0m ×2 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031556 ms (missed cycles : 4). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031556 ms (missed cycles : 4).[0m ×2 + 51.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574233 ms (missed cycles : 4). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574233 ms (missed cycles : 4).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239378 ms (missed cycles : 3). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239378 ms (missed cycles : 3).[0m ×2 + 54.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126588 ms (missed cycles : 2). + 54.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126588 ms (missed cycles : 2).[0m ×2 + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529018 ms (missed cycles : 4). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529018 ms (missed cycles : 4).[0m ×2 + 55.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 56.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839462 ms (missed cycles : 2). + 56.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839462 ms (missed cycles : 2).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 59.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 59.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 60.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 60.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 60.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 61.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 61.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 61.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 61.65sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 61.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 62.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 62.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 63.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 180 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.34sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.34sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416837 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416837 ms (missed cycles : 3).[0m ×2 + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.524ms + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.190ms + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274597 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274597 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931113 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931113 ms (missed cycles : 3).[0m ×2 + 8.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.922ms + 8.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.585ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639276 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639276 ms (missed cycles : 2).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 4900 particles 723 points - 5.324ms + 9.84sINFOamclParticle filter update iteration stats: 4063 particles 723 points - 5.828ms + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3).[0m ×2 + 10.34sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 4.845ms + 10.84sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 4.578ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244856 ms (missed cycles : 4). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244856 ms (missed cycles : 4).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.386ms + 11.84sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.946ms + 12.32sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.634ms + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295221 ms (missed cycles : 5). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295221 ms (missed cycles : 5).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.872ms + 13.31sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.363ms + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272558 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272558 ms (missed cycles : 3).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.541ms + 14.15sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.423ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672848 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672848 ms (missed cycles : 3).[0m ×2 + 14.83sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.744ms + 15.33sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.382ms + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810899 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810899 ms (missed cycles : 2).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158982 ms (missed cycles : 4). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158982 ms (missed cycles : 4).[0m ×2 + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960684 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960684 ms (missed cycles : 2).[0m ×2 + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590691 ms (missed cycles : 3). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590691 ms (missed cycles : 3).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071347 ms (missed cycles : 4). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071347 ms (missed cycles : 4).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014321 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014321 ms (missed cycles : 2).[0m ×2 + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116438 ms (missed cycles : 3). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116438 ms (missed cycles : 3).[0m ×2 + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms ×2 + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837601 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837601 ms (missed cycles : 2).[0m ×2 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498086 ms (missed cycles : 2). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498086 ms (missed cycles : 2).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204244 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204244 ms (missed cycles : 3).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385229 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385229 ms (missed cycles : 3).[0m ×2 + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215307 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215307 ms (missed cycles : 2).[0m ×2 + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358606 ms (missed cycles : 4). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358606 ms (missed cycles : 4).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797326 ms (missed cycles : 4). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797326 ms (missed cycles : 4).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950536 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950536 ms (missed cycles : 2).[0m ×2 + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.437186 ms (missed cycles : 6). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.437186 ms (missed cycles : 6).[0m ×2 + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431858 ms (missed cycles : 2). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431858 ms (missed cycles : 2).[0m ×2 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 32.60sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.868628 ms (missed cycles : 6). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.868628 ms (missed cycles : 6).[0m ×2 + 34.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643206 ms (missed cycles : 2). + 34.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643206 ms (missed cycles : 2).[0m ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945760 ms (missed cycles : 5). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945760 ms (missed cycles : 5).[0m ×2 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543739 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543739 ms (missed cycles : 3).[0m ×2 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.907423 ms (missed cycles : 5). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.907423 ms (missed cycles : 5).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723893 ms (missed cycles : 2). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723893 ms (missed cycles : 2).[0m ×2 + 38.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241491 ms (missed cycles : 4). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241491 ms (missed cycles : 4).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.015167 ms (missed cycles : 6). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.015167 ms (missed cycles : 6).[0m ×2 + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423281 ms (missed cycles : 3). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423281 ms (missed cycles : 3).[0m ×2 + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000201 ms (missed cycles : 2). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000201 ms (missed cycles : 2).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935989 ms (missed cycles : 3). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935989 ms (missed cycles : 3).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285124 ms (missed cycles : 2). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285124 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700338 ms (missed cycles : 5). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700338 ms (missed cycles : 5).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473883 ms (missed cycles : 2). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473883 ms (missed cycles : 2).[0m ×2 + 46.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.024368 ms (missed cycles : 7). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.024368 ms (missed cycles : 7).[0m ×2 + 48.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931720 ms (missed cycles : 2). + 48.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931720 ms (missed cycles : 2).[0m ×2 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464187 ms (missed cycles : 3). + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464187 ms (missed cycles : 3).[0m ×2 + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.018628 ms (missed cycles : 7). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.018628 ms (missed cycles : 7).[0m ×2 + 51.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242009 ms (missed cycles : 2). + 51.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242009 ms (missed cycles : 2).[0m ×2 + 52.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097754 ms (missed cycles : 4). + 52.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097754 ms (missed cycles : 4).[0m ×2 + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168516 ms (missed cycles : 3). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168516 ms (missed cycles : 3).[0m ×2 + 53.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900969 ms (missed cycles : 4). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900969 ms (missed cycles : 4).[0m ×2 + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879330 ms (missed cycles : 3). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879330 ms (missed cycles : 3).[0m ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310851 ms (missed cycles : 4). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310851 ms (missed cycles : 4).[0m ×2 + 57.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118036 ms (missed cycles : 4). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118036 ms (missed cycles : 4).[0m ×2 + 58.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784857153.42112422 seconds ×3 + 58.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.282ms + 58.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 58.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784857153.98613238 seconds. ×3 + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687906 ms (missed cycles : 2). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687906 ms (missed cycles : 2).[0m ×2 + 59.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.371ms + 59.16sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 59.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084216 ms (missed cycles : 2). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084216 ms (missed cycles : 2).[0m ×2 + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130431 ms (missed cycles : 2). + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130431 ms (missed cycles : 2).[0m ×2 + 61.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.120ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 147 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764588 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764588 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484233 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484233 ms (missed cycles : 5).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310118 ms (missed cycles : 4). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310118 ms (missed cycles : 4).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720661 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720661 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732515 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732515 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.048898 ms (missed cycles : 6). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.048898 ms (missed cycles : 6).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527637 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527637 ms (missed cycles : 3).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588708 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588708 ms (missed cycles : 4).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793730 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793730 ms (missed cycles : 2).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391052 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391052 ms (missed cycles : 2).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262717 ms (missed cycles : 5). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262717 ms (missed cycles : 5).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843878 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843878 ms (missed cycles : 3).[0m ×2 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855683 ms (missed cycles : 2). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855683 ms (missed cycles : 2).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375508 ms (missed cycles : 4). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375508 ms (missed cycles : 4).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.025ms + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.407068 ms (missed cycles : 6). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.407068 ms (missed cycles : 6).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.806629 ms (missed cycles : 5). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.806629 ms (missed cycles : 5).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013982 ms (missed cycles : 4). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013982 ms (missed cycles : 4).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034787 ms (missed cycles : 4). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034787 ms (missed cycles : 4).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844066 ms (missed cycles : 3). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844066 ms (missed cycles : 3).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889049 ms (missed cycles : 6). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889049 ms (missed cycles : 6).[0m ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791084 ms (missed cycles : 6). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791084 ms (missed cycles : 6).[0m ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936513 ms (missed cycles : 3). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936513 ms (missed cycles : 3).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823752 ms (missed cycles : 3). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823752 ms (missed cycles : 3).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198292 ms (missed cycles : 2). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198292 ms (missed cycles : 2).[0m ×2 + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800344 ms (missed cycles : 5). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800344 ms (missed cycles : 5).[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086685 ms (missed cycles : 5). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086685 ms (missed cycles : 5).[0m ×2 + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059848 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059848 ms (missed cycles : 2).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188119 ms (missed cycles : 2). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188119 ms (missed cycles : 2).[0m ×2 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101327 ms (missed cycles : 2). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101327 ms (missed cycles : 2).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200523 ms (missed cycles : 2). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200523 ms (missed cycles : 2).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744053 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744053 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315911 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315911 ms (missed cycles : 2).[0m ×2 + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981007 ms (missed cycles : 2). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981007 ms (missed cycles : 2).[0m ×2 + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059267 ms (missed cycles : 4). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059267 ms (missed cycles : 4).[0m ×2 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283901 ms (missed cycles : 5). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283901 ms (missed cycles : 5).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608803 ms (missed cycles : 3). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608803 ms (missed cycles : 3).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5).[0m ×2 + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5).[0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3).[0m ×2 + 46.68sINFOjoint_trajectory_controllerGoal reached, success! + 46.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856857.59609985 seconds ×3 + 47.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856858.15598011 seconds. ×3 + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3).[0m ×2 + 48.24sINFOobjective_server_nodeFound path in 0 iterations (2.674e-05 s). ×2 + 48.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5).[0m ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 111 warnings · 123 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613075 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613075 ms (missed cycles : 4).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692455 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692455 ms (missed cycles : 5).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.38sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784856922.79210377 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129005 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129005 ms (missed cycles : 4).[0m ×2 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784856924.36156750 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290200 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290200 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492470 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492470 ms (missed cycles : 5).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.85sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427250 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427250 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623377 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623377 ms (missed cycles : 3).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.068ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258701 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258701 ms (missed cycles : 5).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.983ms + 8.89sINFOros2_control_nodeMuJoCo sim: 0.87% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.739ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649563 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649563 ms (missed cycles : 2).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.180ms + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.652ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.729637 ms (missed cycles : 6). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.729637 ms (missed cycles : 6).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.469ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933811 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933811 ms (missed cycles : 2).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.379ms + 11.96sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 4.717ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650878 ms (missed cycles : 4). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650878 ms (missed cycles : 4).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 3201 particles 723 points - 3.724ms + 12.99sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 2.926ms + 13.48sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.263ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725567 ms (missed cycles : 3). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725567 ms (missed cycles : 3).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.874ms + 14.46sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.521ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057660 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057660 ms (missed cycles : 2).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197695 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197695 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924430 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924430 ms (missed cycles : 3).[0m ×2 + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120315 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120315 ms (missed cycles : 4).[0m ×2 + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790215 ms (missed cycles : 2). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790215 ms (missed cycles : 2).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031698 ms (missed cycles : 3). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031698 ms (missed cycles : 3).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.454410 ms (missed cycles : 7). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.454410 ms (missed cycles : 7).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295720 ms (missed cycles : 5). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295720 ms (missed cycles : 5).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230837 ms (missed cycles : 5). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230837 ms (missed cycles : 5).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002440 ms (missed cycles : 4). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002440 ms (missed cycles : 4).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700140 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700140 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693864 ms (missed cycles : 2). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693864 ms (missed cycles : 2).[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.292100 ms (missed cycles : 5). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.292100 ms (missed cycles : 5).[0m ×2 + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560273 ms (missed cycles : 4). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560273 ms (missed cycles : 4).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502107 ms (missed cycles : 4). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502107 ms (missed cycles : 4).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027542 ms (missed cycles : 4). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027542 ms (missed cycles : 4).[0m ×2 + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5).[0m ×2 + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4).[0m ×2 + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3).[0m ×2 + 33.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3).[0m ×2 + 34.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784856954.66174674 seconds ×3 + 34.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.516ms + 34.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 34.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784856955.23121762 seconds. ×3 + 35.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2).[0m ×2 + 35.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 35.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 35.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 35.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3).[0m ×2 + 36.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 36.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 37.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3).[0m ×2 + 37.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.1s | 58 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900969 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900969 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879330 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879330 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310851 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310851 ms (missed cycles : 4).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118036 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118036 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784857153.42112422 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.282ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 4.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784857153.98613238 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687906 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687906 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.371ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084216 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084216 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130431 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130431 ms (missed cycles : 2).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.120ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780131 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780131 ms (missed cycles : 3).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.095ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769237 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769237 ms (missed cycles : 2).[0m ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×4 + 8.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (1.2e-06 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443020 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443020 ms (missed cycles : 3).[0m ×2 + 9.46sINFOobjective_server_nodeFound path in 69 iterations (0.0639524 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188997 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188997 ms (missed cycles : 3).[0m ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.71sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196992 ms (missed cycles : 5). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196992 ms (missed cycles : 5).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557156 ms (missed cycles : 5). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557156 ms (missed cycles : 5).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.012ms + 13.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.972ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825289 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825289 ms (missed cycles : 2).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 14.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6).[0m ×2 + 16.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784857166.51205087 seconds ×3 + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.975ms + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.595ms + 17.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784857167.10358334 seconds. ×3 + 17.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.32sINFOmove_groupClearing octomap...[0m ×2 + 17.32sINFOmove_groupOctomap cleared.[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.128ms + 17.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784857167.66372132 seconds ×3 + 18.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.958ms + 18.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784857168.21148109 seconds. ×3 + 18.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2).[0m ×2 + 18.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784857168.65166426 seconds ×3 + 19.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.321ms + 19.09sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.386ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.668628 ms (missed cycles : 5). + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.582ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 87 errors · 33 warnings · 398 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784857166.51205087 seconds ×3 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.975ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.595ms + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784857167.10358334 seconds. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.128ms + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784857167.66372132 seconds ×3 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.958ms + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784857168.21148109 seconds. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784857168.65166426 seconds ×3 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.321ms + 4.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.386ms + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.668628 ms (missed cycles : 5). + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.582ms + 5.91sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.668628 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.922439 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.922439 ms (missed cycles : 6).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714313 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714313 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432573 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432573 ms (missed cycles : 5).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417210 ms (missed cycles : 6). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.417210 ms (missed cycles : 6).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092307 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092307 ms (missed cycles : 2).[0m ×2 + 10.91sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] ×2 + 10.95sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORweb_video_auth_proxy-33process has died [pid 10497, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.95sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] ×2 + 10.98sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORweb_bridge_auth_proxy-32process has died [pid 10496, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.99sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.06sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.08sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.11sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.13sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.15sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.17sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.19sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system ×2 + 11.20sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.22sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.25sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.27sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.30sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.32sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.34sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10494] ×2 + 11.34sINFOweb_video_server-31process has finished cleanly [pid 10495] ×2 + 11.36sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.36sINFOcontroller_managerShutdown request received.... + 11.36sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.36sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.36sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.36sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.36sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.36sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.36sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.36sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.36sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.36sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.36sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.36sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.36sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.36sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.36sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.36sINFOcontroller_managerShutting down the controller manager. + 11.37sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.40sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.40sERRORmove_group-19process has died [pid 10472, 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_he9zmpon --params-file /tmp/launch_params_addv0v2v --params-file /tmp/launch_params_p8rul9hm --params-file /tmp/launch_params_8o8oizmf --params-file /tmp/launch_params_w_j6oprd --params-file /tmp/launch_params_im78yw26']. ×2 + 11.42sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.42sERRORui_teleop_bridge-28process has died [pid 10492, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_bi4uuj_c']. ×2 + 11.44sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.46sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.48sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.48sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.48sINFOcontroller_serverCleaning up + 11.48sINFOlocal_costmap.local_costmapCleaning up + 11.48sINFOexecute_objective_bridge-27process has finished cleanly [pid 10491] ×2 + 11.49sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.49sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.49sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.49sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.49sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.49sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.49sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.49sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.49sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.49sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.49sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.49sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.49sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.49sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.49sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.49sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.49sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.49sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.49sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.49sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.49sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.50sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.50sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.50sERRORmove_groupStack trace (most recent call last) in thread 11073: ×2 + 11.50sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.50sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe4d556a63, in __clone ×2 + 11.50sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe4d4c9aa3, in ×2 + 11.50sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe4d75bdb3, in ×2 + 11.50sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7efe4de9eed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.50sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efe4dace4d0, in rclcpp::Rate::sleep() ×2 + 11.50sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efe4da21a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.50sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efe4d9e6a71, in ×2 + 11.50sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe4d72a390, in __cxa_throw ×2 + 11.50sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe4d714a54, in std::terminate() ×2 + 11.50sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe4d72a0d9, in ×2 + 11.50sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efe4d714ff4, in ×2 + 11.50sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe4d4558fe, in abort ×2 + 11.50sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe4d47227d, in raise ×2 + 11.50sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efe4d4cbb2c, in pthread_kill ×2 + 11.50sERRORmove_groupAborted (Signal sent by tkill() 10472 0) ×2 + 11.50sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.50sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.50sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.50sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.50sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.50sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.50sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.50sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.51sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.51sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.51sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.51sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.51sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.51sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.51sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.51sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.51sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.51sINFOobjective_server_node[2026-07-24 01:39:35.501] [moveit_pro_license] [info] ×2 + 11.51sINFOobjective_server_node************************************************* ×4 + 11.51sINFOobjective_server_node* MoveIt Pro License ×2 + 11.51sINFOobjective_server_node* Application has successfully terminated ×2 + 11.51sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.51sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.51sINFOodom_qos_relay.pymain() ×2 + 11.51sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.51sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.51sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.51sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.51sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.51sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.51sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.51sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.51sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.51sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.51sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.51sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.51sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569e3d466a4, in _start ×2 + 11.51sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2d135628a, in __libc_start_main ×2 + 11.51sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2d13561d0, in ×2 + 11.51sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2d1373bbd, in exit ×2 + 11.51sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2d1373a75, in ×2 + 11.51sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fc2d18428f5, in spdlog::details::registry::~registry() ×2 + 11.51sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569e3d46d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.51sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569e3d4d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.51sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569e3d4c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.51sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569e3d48b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.51sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569e3d46d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.51sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2d1ef8454, in rclcpp::Node::~Node() ×2 + 11.52sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2d1eb3515, in ×2 + 11.52sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2d1ef6d20, in ×2 + 11.52sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2d1ef6c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.52sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2d1eb35d9, in ×2 + 11.52sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2d1eb8161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.52sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc295493090]) ×2 + 11.53sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.53sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.53sINFOsmoother_serverCleaning up + 11.54sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.54sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.54sINFOmap_serverDeactivating + 11.54sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.55sINFOmap_serverCleaning up + 11.55sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.55sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.55sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.55sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.55sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.55sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.56sERRORobjective_server_node_main-24process has died [pid 10483, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_bkhbsvtw --params-file /tmp/launch_params_5txlnwl8 --params-file /tmp/launch_params_dbqdm06x --params-file /tmp/launch_params_il9rhx_x --params-file /tmp/launch_params_01azipv7 --params-file /tmp/launch_params_yrcb3abi --params-file /tmp/launch_params__t5ezrhs --params-file /tmp/launch_params_u4lx0m17 --params-file /tmp/launch_params_zk25lt6l']. ×2 + 11.56sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.57sERRORamclThe bond connection to the lifecycle manager has been broken + 11.57sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.57sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.58sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.58sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.58sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.58sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.58sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.58sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.58sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.58sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.96sERRORcomponent_container_isolated-1process has died [pid 10370, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_eind38ye --params-file /tmp/launch_params_8f4wqvr8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.28sINFOcomponent_container_mt-26process has finished cleanly [pid 10489] ×2 + 12.28sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 10482] ×2 + 12.30sINFOmove_joint_resampler_node-22process has finished cleanly [pid 10475] ×2 + 12.36sINFOparameter_manager_node-20process has finished cleanly [pid 10473] ×2 + 12.39sINFOwaypoint_manager_node-21process has finished cleanly [pid 10474] ×2 + 12.42sINFOcomponent_container_mt-25process has finished cleanly [pid 10487] ×2 + 12.42sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10375] ×2 + 12.44sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 10374] ×2 + 12.48sINFOstatic_transform_publisher-3process has finished cleanly [pid 10372] ×2 + 12.50sINFOstatic_transform_publisher-2process has finished cleanly [pid 10371] ×2 + 12.52sERRORodom_qos_relay.py-4process has died [pid 10373, 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 + 13.90sINFOweb_bridge-29process has finished cleanly [pid 10493] ×2 + 13.90sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.17sINFOros2_control_node-7process has finished cleanly [pid 10376] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 51 warnings · 92 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931882 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931882 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197686 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197686 ms (missed cycles : 4).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114623 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114623 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1784857012.85136962 seconds ×3 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832519 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832519 ms (missed cycles : 3).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.706ms + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.042ms + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784857013.41133070 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.303ms + 4.09sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345195 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345195 ms (missed cycles : 3).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.587ms + 4.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.685ms + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807953 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807953 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.640ms + 5.60sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.207ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059581 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059581 ms (missed cycles : 2).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 7.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.072ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196299 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196299 ms (missed cycles : 5).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961312 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961312 ms (missed cycles : 2).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.767ms + 9.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.105ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645929 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645929 ms (missed cycles : 5).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 4518 particles 723 points - 5.330ms + 10.11sINFOamclParticle filter update iteration stats: 3783 particles 723 points - 4.405ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808533 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808533 ms (missed cycles : 2).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 4.237ms + 11.11sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 3.398ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644815 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644815 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 2.244ms + 12.12sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.635ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924267 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924267 ms (missed cycles : 2).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.755ms + 13.12sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.302ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957483 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957483 ms (missed cycles : 2).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 14.07sINFOjoint_trajectory_controllerGot request to cancel goal + 14.07sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784857023.77085876 seconds ×3 + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 14.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.257ms + 14.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.035ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711987 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711987 ms (missed cycles : 2).[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784857024.33618569 seconds. ×3 + 14.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 15.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 15.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017454 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017454 ms (missed cycles : 2).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.936ms + 16.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.272ms + 16.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699772 ms (missed cycles : 5). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699772 ms (missed cycles : 5).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 7.130ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613075 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613075 ms (missed cycles : 4).[0m ×2 + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692455 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692455 ms (missed cycles : 5).[0m ×2 + 7.58sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784856922.79210377 seconds ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129005 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129005 ms (missed cycles : 4).[0m ×2 + 9.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784856924.36156750 seconds. ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290200 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290200 ms (missed cycles : 3).[0m ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492470 ms (missed cycles : 5). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492470 ms (missed cycles : 5).[0m ×2 + 11.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427250 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427250 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856857.59609985 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856858.15598011 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.674e-05 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 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 + 4.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4).[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784856861.23614287 seconds ×3 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562231 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562231 ms (missed cycles : 4).[0m ×2 + 7.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784856861.79253531 seconds. ×3 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785903 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785903 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098444 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098444 ms (missed cycles : 3).[0m ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.972ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825289 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825289 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784857166.51205087 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.975ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.595ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784857167.10358334 seconds. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.13sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.128ms + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784857167.66372132 seconds ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.958ms + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784857168.21148109 seconds. ×3 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784857168.65166426 seconds ×3 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.321ms + 5.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.386ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.668628 ms (missed cycles : 5). + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.582ms + 7.01sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.668628 ms (missed cycles : 5).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.922439 ms (missed cycles : 6). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.922439 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.31sINFOmove_groupClearing octomap...[0m ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764588 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.93sINFOjoint_trajectory_controllerReceived new action goal + 3.93sINFOjoint_trajectory_controllerAccepted new action goal + 3.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.93sINFOjoint_trajectory_controllerReceived new action goal + 3.93sINFOjoint_trajectory_controllerAccepted new action goal + 3.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784856954.66174674 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.516ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 4.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784856955.23121762 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 6.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784856954.66174674 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.516ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 4.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784856955.23121762 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 6.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515967 ms (missed cycles : 5).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368293 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871902 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731212 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784856954.66174674 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.516ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 4.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784856955.23121762 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466827 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.062ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911294 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 6.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937789 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856857.59609985 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856858.15598011 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.674e-05 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762025 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089303 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118936 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856857.59609985 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856858.15598011 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.674e-05 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645091 ms (missed cycles : 3).[0m ×2 + 0.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784856857.59609985 seconds ×3 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784856858.15598011 seconds. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012384 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (2.674e-05 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965673 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173305 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784856861.23614287 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562231 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562231 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784856861.79253531 seconds. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785903 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785903 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098444 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098444 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.93sINFOjoint_trajectory_controllerReceived new action goal + 3.93sINFOjoint_trajectory_controllerAccepted new action goal + 3.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.93sINFOjoint_trajectory_controllerReceived new action goal + 3.93sINFOjoint_trajectory_controllerAccepted new action goal + 3.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412758 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394345 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567507 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784856918.17270446 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147332 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.891ms + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.569ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784856918.74195099 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.93sINFOjoint_trajectory_controllerReceived new action goal + 3.93sINFOjoint_trajectory_controllerAccepted new action goal + 3.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049306 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112917 ms (missed cycles : 2).[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.852916 ms (missed cycles : 6).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397467 ms (missed cycles : 6).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748048 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784857098.08635712 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503889 ms (missed cycles : 4).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.656ms + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784857098.65098953 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668079 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827834 ms (missed cycles : 3).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 5.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.972ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825289 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825289 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443238 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318362 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426462 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784857166.51205087 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.975ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.595ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784857167.10358334 seconds. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.13sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215819 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.128ms + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784857167.66372132 seconds ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.958ms + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784857168.21148109 seconds. ×3 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147572 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784857168.65166426 seconds ×3 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.321ms + 5.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.386ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.668628 ms (missed cycles : 5). + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.582ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.69sINFOjoint_trajectory_controllerAccepted new action goal + 6.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037227 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037227 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.36sINFOmove_groupClearing octomap...[0m ×2 + 4.36sINFOmove_groupOctomap cleared.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 5.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 6.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 6.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 6.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 6.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037227 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037227 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.36sINFOmove_groupClearing octomap...[0m ×2 + 4.36sINFOmove_groupOctomap cleared.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 5.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 6.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 6.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 6.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369215 ms (missed cycles : 3).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764588 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764588 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812718 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122375 ms (missed cycles : 4).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982126 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784856812.16417313 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.32sINFOmove_groupClearing octomap...[0m ×2 + 2.32sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784856812.18448853 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784856812.73699808 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784856812.74713421 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950834 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784856813.30313969 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784856813.45381761 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023940 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784856814.02600884 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784856814.10854101 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784856814.66394472 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339982 ms (missed cycles : 6).[0m ×2 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 | ||||