MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.2s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.6s	15 errors · 309 warnings · 1176 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/2026-07-26-03-50-25-739735-8469f9ee134f-9201 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.64sINFOstatic_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' + 12.64sINFOstatic_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' + 12.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 12.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.69sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 12.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 12.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 12.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 12.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 12.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 12.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 12.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.77sINFOmap_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. + 12.77sINFOmap_serverCreating + 12.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 12.77sINFOcontroller_managerupdate rate is 600 Hz + 12.77sINFOcontroller_managerOverruns handling is : enabled + 12.77sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.77sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 12.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 12.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.79sINFOcontroller_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. + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168968 ms (missed cycles : 3). + 12.84sINFOcontroller_serverCreating controller server + 12.85sINFOlocal_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. + 12.86sINFOlocal_costmap.local_costmapCreating Costmap + 12.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 12.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 12.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 12.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 12.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 12.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 12.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 12.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 12.91sINFOsmoother_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. + 12.92sINFOros2_control_node-7process started with pid [9257] ×2 + 12.92sINFOmove_group-19process started with pid [9338] ×2 + 12.92sINFOparameter_manager_node-20process started with pid [9339] ×2 + 12.92sINFOwaypoint_manager_node-21process started with pid [9340] ×2 + 12.92sINFOmove_joint_resampler_node-22process started with pid [9341] ×2 + 12.92sINFOmove_end_effector_resampler_node-23process started with pid [9361] ×2 + 12.92sINFOobjective_server_node_main-24process started with pid [9362] ×2 + 12.92sINFOcomponent_container_mt-25process started with pid [9363] ×2 + 12.92sINFOcomponent_container_mt-26process started with pid [9364] ×2 + 12.92sINFOexecute_objective_bridge-27process started with pid [9365] ×2 + 12.92sINFOui_teleop_bridge-28process started with pid [9367] ×2 + 12.92sINFOweb_bridge-29process started with pid [9371] ×2 + 12.92sINFOtf2_web_republisher_node-30process started with pid [9372] ×2 + 12.92sINFOweb_video_server-31process started with pid [9373] ×2 + 12.92sINFOweb_bridge_auth_proxy-32process started with pid [9374] ×2 + 12.92sINFOweb_video_auth_proxy-33process started with pid [9376] ×2 + 12.93sINFOsmoother_serverCreating smoother server + 12.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 12.93sINFOcomponent_container_isolated-1process started with pid [9251] ×2 + 12.93sINFOstatic_transform_publisher-2process started with pid [9252] ×2 + 12.93sINFOstatic_transform_publisher-3process started with pid [9253] ×2 + 12.93sINFOodom_qos_relay.py-4process started with pid [9254] ×2 + 12.93sINFOscan_to_scan_filter_chain-5process started with pid [9255] ×2 + 12.93sINFOscan_to_scan_filter_chain-6process started with pid [9256] ×2 + 12.93sINFOros2-8process started with pid [9258] ×2 + 12.93sINFOros2-9process started with pid [9325] ×2 + 12.93sINFOros2-10process started with pid [9326] ×2 + 12.93sINFOros2-11process started with pid [9327] ×2 + 12.93sINFOros2-12process started with pid [9328] ×2 + 12.93sINFOros2-13process started with pid [9329] ×2 + 12.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 12.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 12.93sINFOros2-14process started with pid [9330] ×2 + 12.93sINFOros2-15process started with pid [9331] ×2 + 12.93sINFOros2-16process started with pid [9332] ×2 + 12.93sINFOros2-17process started with pid [9333] ×2 + 12.93sINFOros2-18process started with pid [9336] ×2 + 12.94sINFOlifecycle_manager_localizationCreating + 12.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 12.95sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 12.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 12.96sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 12.96sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 12.97sINFOmap_serverConfiguring + 12.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 12.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 12.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 12.98sINFOplanner_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. + 13.03sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.03sINFOamclConfiguring + 13.04sINFOplanner_serverCreating + 13.04sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.04sINFOmap_serverActivating + 13.04sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.05sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.05sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.05sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.05sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.05sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.05sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.05sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.05sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.05sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.05sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.05sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.05sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168968 ms (missed cycles : 3).[0m ×2 + 13.07sINFOglobal_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. + 13.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.07sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.07sINFOglobal_costmap.global_costmapCreating Costmap + 13.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.14sINFObehavior_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. + 13.15sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.15sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.15sINFOamclActivating + 13.15sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.16sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.17sINFOamclSubscribed to map_topic: /map + 13.17sINFOamclSubscribed to scan_topic: /scan_merged + 13.17sINFOamclCreated reinitialize_global_localization service + 13.18sINFOamclCreated request_nomotion_update service + 13.18sINFOamclA new map was received + 13.18sINFOamclInitializing particle filter instance + 13.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.25sINFObt_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. + 13.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.29sINFObt_navigatorCreating + 13.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.32sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.33sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.34sINFOwaypoint_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. + 13.35sINFOwaypoint_followerCreating + 13.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.37sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.40sINFOvelocity_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. + 13.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.46sINFOlifecycle_manager_navigationCreating + 13.47sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.48sINFOcontroller_managerReceived robot description from topic. + 13.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.48sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.48sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.49sINFOrobot_state_publisherRobot initialized + 13.50sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.51sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.51sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.51sINFOcontroller_serverConfiguring controller interface + 13.51sINFOcontroller_servergetting progress checker plugins.. + 13.51sINFOcontroller_servergetting goal checker plugins.. + 13.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.52sINFOcontroller_serverController frequency set to 20.0000Hz + 13.52sINFOlocal_costmap.local_costmapConfiguring + 13.52sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.53sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.54sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.54sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.55sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 13.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.59sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 13.59sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 13.60sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 13.63sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 13.63sINFOcontroller_serverController Server has progress_checker progress checkers available. + 13.63sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.64sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 13.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.64sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.65sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.65sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.65sWARNlaser_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. + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.65sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×2 + 13.65sWARNlaser_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. + 13.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.66sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 13.66sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 13.67sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 13.67sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 13.68sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 13.68sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 13.68sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 13.68sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 13.68sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 13.68sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 13.69sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 13.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 13.69sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 13.71sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 13.71sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 13.71sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 13.71sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 13.72sINFOcontroller_serverOptimizer reset + 13.72sINFOcontroller_serverController Server has FollowPath controllers available. + 13.73sINFOamclParticle filter initialization completed + 13.73sINFOamclInitializing particles from estimated pose and covariance + 13.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 13.74sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 13.74sINFOsmoother_serverConfiguring smoother server + 13.77sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 13.77sINFOlifecycle_manager_localizationServer amcl connected with bond. + 13.77sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 13.77sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 13.77sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 13.78sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 13.78sINFOplanner_serverConfiguring + 13.78sINFOglobal_costmap.global_costmapConfiguring + 13.79sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 13.79sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 13.80sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 13.80sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 13.81sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 13.81sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.475161 seconds + 13.81sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.81sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.82sINFOmove_groupLoaded robot model in 0.475161 seconds[0m ×2 + 13.82sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.82sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.83sINFOamclThe bond connection to the lifecycle manager is now fully formed + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357635 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357635 ms (missed cycles : 3).[0m ×2 + 13.84sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 13.84sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 13.85sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 13.89sFATALplanner_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 + 13.89sINFOplanner_serverCleaning up + 13.89sINFOglobal_costmap.global_costmapCleaning up + 13.90sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 13.95sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 13.95sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.04sINFOwaypoint_manager_nodeLoaded robot model in 0.373151 seconds[0m ×2 + 14.05sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.05sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.45sWARNwaypoint_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. + 14.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.45sWARNwaypoint_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. + 14.45sWARNwaypoint_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. + 14.45sWARNwaypoint_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. + 14.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.46sWARNwaypoint_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. + 14.46sWARNwaypoint_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. + 14.46sWARNwaypoint_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. + 14.46sWARNwaypoint_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. + 14.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.46sWARNwaypoint_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. + 14.47sWARNwaypoint_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. + 14.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.47sWARNwaypoint_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. + 14.47sWARNwaypoint_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. + 14.47sWARNwaypoint_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. + 14.47sWARNwaypoint_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. + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_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. + 14.48sWARNwaypoint_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. + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_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. + 14.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.48sWARNwaypoint_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. + 14.48sWARNwaypoint_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. + 14.49sWARNwaypoint_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. + 14.49sWARNwaypoint_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. + 14.49sWARNwaypoint_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. + 14.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.49sWARNwaypoint_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. + 14.49sWARNwaypoint_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. + 14.50sWARNwaypoint_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. + 14.50sWARNwaypoint_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. + 14.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.50sWARNwaypoint_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. + 14.50sWARNwaypoint_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. + 14.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.59sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.60sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.61sWARNmove_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. + 14.61sWARNmove_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. + 14.62sWARNmove_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. + 14.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.62sWARNmove_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. + 14.63sWARNmove_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. + 14.63sWARNmove_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. + 14.63sWARNmove_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. + 14.64sWARNmove_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. + 14.64sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.64sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.64sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.64sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.64sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.64sWARNmove_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. + 14.64sWARNmove_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. + 14.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.84sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×8 + 14.89sINFOwaypoint_manager_node[2026-07-26 03:50:43.813] [moveit_pro_license] [info] ×2 + 14.89sINFOwaypoint_manager_node************************************************* ×4 + 14.89sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 14.89sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 14.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 14.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 14.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879276 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879276 ms (missed cycles : 3).[0m ×2 + 15.14sINFOmove_group[2026-07-26 03:50:44.064] [moveit_pro_license] [info] ×2 + 15.14sINFOmove_group************************************************* ×4 + 15.14sINFOmove_group* MoveIt Pro License ×2 + 15.14sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.26sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.26sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.52sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.52sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.52sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.52sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.52sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.52sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.52sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.52sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.52sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.52sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.52sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.52sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.53sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.53sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.53sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.69sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.69sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.69sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.69sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.69sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 15.69sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.69sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.69sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.69sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.69sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.69sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.69sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.69sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.69sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.69sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.69sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.73sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.73sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.73sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 15.84sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 15.84sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 15.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 15.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 15.85sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 15.85sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 15.96sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 15.96sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 15.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 15.96sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 15.96sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 15.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 15.97sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 15.97sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 15.97sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 15.97sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 15.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 15.97sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 15.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 15.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 15.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891903 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891903 ms (missed cycles : 2).[0m ×2 + 16.30sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.30sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.30sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.30sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.31sINFOros2-14process has finished cleanly [pid 9330] ×2 + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.34sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.36sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.36sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.36sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.37sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.37sINFOstreaming_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) + 16.37sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 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 ×2 + 16.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.37sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 16.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.50sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 16.50sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 16.51sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.51sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.52sINFOobjective_server_node[2026-07-26 03:50:45.439] [moveit_pro_license] [info] ×2 + 16.52sINFOobjective_server_node************************************************* ×4 + 16.52sINFOobjective_server_node* MoveIt Pro License ×2 + 16.52sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.57sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.57sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.59sINFOobjective_server_nodeLoaded robot model in 0.0262293 seconds[0m ×2 + 16.59sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.59sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.60sINFOstreaming_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) + 16.60sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.65sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.65sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.67sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.93sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785037844.744 for reason 'discarding message because the queue is full' + 16.95sINFOros2_control_node[2026-07-26 03:50:45.875] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.96sINFOros2_control_node[2026-07-26 03:50:45.878] [info] Controller state will be published at 10 Hz. ×2 + 16.96sINFOros2_control_node[2026-07-26 03:50:45.880] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.00sWARNobjective_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. + 17.00sWARNobjective_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. + 17.00sWARNobjective_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. + 17.00sWARNobjective_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. + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_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. + 17.00sWARNobjective_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. + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_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. + 17.00sWARNobjective_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. + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_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. + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_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. + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.00sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.07sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 17.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.10sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.13sINFOcomponent_container_mtLoaded robot model in 0.460114 seconds[0m ×2 + 17.13sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.13sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605906 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605906 ms (missed cycles : 2).[0m ×2 + 17.25sINFOmove_groupMoveGroup debug mode is ON + 17.25sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.26sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.30sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.35sINFOros2-16process has finished cleanly [pid 9332] ×2 + 17.35sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 17.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.42sINFOmove_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 ****************************************************** + 17.42sINFOmove_group ×8 + 17.42sINFOmove_group****************************************************** ×4 + 17.42sINFOmove_group* MoveGroup using: ×2 + 17.42sINFOmove_group* - apply_planning_scene_service ×2 + 17.42sINFOmove_group* - clear_octomap_service ×2 + 17.42sINFOmove_group* - get_group_urdf ×2 + 17.42sINFOmove_group* - load_geometry_from_file ×2 + 17.42sINFOmove_group* - get_planning_scene_service ×2 + 17.42sINFOmove_group* - kinematics_service ×2 + 17.42sINFOmove_group* - save_geometry_to_file ×2 + 17.42sINFOmove_group* - GetPlanningGroups ×2 + 17.42sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.42sINFOmove_group[0m ×2 + 17.42sINFOmove_group[92mYou can start planning now![0m ×2 + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sWARNplanning_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. + 17.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sWARNplanning_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. + 17.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNplanning_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. + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNplanning_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. + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNplanning_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. + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.52sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 17.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 17.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 17.61sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 17.61sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 17.61sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 17.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 17.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 17.64sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 17.64sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 17.64sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 17.64sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 17.64sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 17.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 17.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 17.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 17.67sINFOcontroller_managerSuccessfully switched controllers! ×7 + 17.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 17.67sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 17.68sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 17.75sINFOcomponent_container_mt[2026-07-26 03:50:46.673] [moveit_pro_license] [info] ×2 + 17.75sINFOcomponent_container_mt************************************************* ×4 + 17.75sINFOcomponent_container_mt* MoveIt Pro License ×2 + 17.75sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.02sINFOros2-12process has finished cleanly [pid 9328] ×2 + 18.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 18.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 18.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 18.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 18.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.08sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.08sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817538 ms (missed cycles : 6). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817538 ms (missed cycles : 6).[0m ×2 + 18.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.45sINFOros2_control_node[2026-07-26 03:50:47.368] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.45sINFOros2_control_node[2026-07-26 03:50:47.370] [info] Controller state will be published at 10 Hz. ×2 + 18.45sINFOros2_control_node[2026-07-26 03:50:47.371] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.78sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.78sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.79sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 18.79sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 18.83sINFOros2-15process has finished cleanly [pid 9331] ×2 + 18.88sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.88sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.88sINFOplatform_velocity_controllerconfigure successful + 18.88sINFOros2_control_nodeconfigure successful[0m ×6 + 18.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.91sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.91sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 19.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.21sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 19.21sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012884 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012884 ms (missed cycles : 2).[0m ×2 + 19.25sINFOros2-11process has finished cleanly [pid 9327] ×2 + 19.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.31sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.31sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.45sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 3.186ms + 19.54sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785037847.344 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.62sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 19.62sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 19.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 19.62sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 19.65sINFOros2-10process has finished cleanly [pid 9326] ×2 + 19.70sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 19.70sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 19.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.72sINFOplatform_velocity_controller_nav2configure successful + 20.12sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 20.13sINFOros2-13process has finished cleanly [pid 9329] ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797960 ms (missed cycles : 2). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797960 ms (missed cycles : 2).[0m ×2 + 20.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 20.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 20.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.41sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.42sINFOforce_torque_sensor_broadcasterconfigure successful + 20.42sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.42sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.77sINFOros2-8process has finished cleanly [pid 9258] ×2 + 20.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 20.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 21.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 21.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 21.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672850 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672850 ms (missed cycles : 2).[0m ×2 + 21.40sINFOros2_control_node[2026-07-26 03:50:50.327] [info] Controller state will be published at 20 Hz. ×2 + 21.41sINFOros2_control_node[2026-07-26 03:50:50.329] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.77sINFOros2-17process has finished cleanly [pid 9333] ×2 + 21.78sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.78sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.78sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.78sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.79sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 21.79sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 21.85sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.85sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.87sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.87sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.87sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.87sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.88sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.88sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 22.22sINFOros2-9process has finished cleanly [pid 9325] ×2 + 22.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 + 22.28sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kl5sst0o --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_gjik76bv --params-file /tmp/launch_params_um9xaa23 [0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340860 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340860 ms (missed cycles : 3).[0m ×2 + 22.36sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.36sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.76sINFOros2_control_node[2026-07-26 03:50:51.678] [info] Controller state will be published at 20 Hz. ×2 + 22.76sINFOros2_control_node[2026-07-26 03:50:51.679] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 22.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.10sINFOros2-18process has finished cleanly [pid 9336] ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777417 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777417 ms (missed cycles : 3).[0m ×2 + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 25.74sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 27.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 27.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 27.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 27.98sINFOmove_groupClearing octomap...[0m ×2 + 27.98sINFOmove_groupOctomap cleared.[0m ×2 + 27.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 28.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 28.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 29.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 29.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 29.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 29.86sINFOobjective_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 + 29.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 29.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.6s	3 errors · 231 warnings · 203 info
+ 0.00sINFOamclParticle filter update iteration stats: 3804 particles 723 points - 4.731ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471731 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471731 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 4.043ms + 1.01sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 3.714ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645430 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645430 ms (missed cycles : 3).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.906ms + 2.01sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 3.965ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880187 ms (missed cycles : 6). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880187 ms (missed cycles : 6).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 3.677ms + 3.01sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 3.123ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445950 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445950 ms (missed cycles : 6).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 2701 particles 723 points - 3.110ms + 3.88sINFOjoint_trajectory_controllerGot request to cancel goal + 3.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785038065.56021643 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 2.792ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.351ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029527 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029527 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.403ms + 4.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785038066.11902618 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.633ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.545ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545805 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545805 ms (missed cycles : 4).[0m ×2 + 5.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.555ms + 5.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 6.04sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930847 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930847 ms (missed cycles : 5).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 7.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706861 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706861 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837922 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837922 ms (missed cycles : 2).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.378ms + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.825ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363488 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363488 ms (missed cycles : 2).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.896ms + 10.41sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 5.394ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968497 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968497 ms (missed cycles : 3).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 3928 particles 723 points - 5.302ms + 11.41sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 3.945ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253876 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253876 ms (missed cycles : 2).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 2721 particles 723 points - 3.084ms + 12.42sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 2.596ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872776 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872776 ms (missed cycles : 3).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.751ms + 13.43sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 2.165ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027523 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027523 ms (missed cycles : 2).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.561ms + 14.41sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.411ms + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452179 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452179 ms (missed cycles : 3).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.131ms + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258341 ms (missed cycles : 4). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258341 ms (missed cycles : 4).[0m ×2 + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390013 ms (missed cycles : 3). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390013 ms (missed cycles : 3).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863796 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863796 ms (missed cycles : 2).[0m ×2 + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms ×2 + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968565 ms (missed cycles : 4). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968565 ms (missed cycles : 4).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638126 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638126 ms (missed cycles : 3).[0m ×2 + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803556 ms (missed cycles : 3). + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803556 ms (missed cycles : 3).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814811 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814811 ms (missed cycles : 2).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103590 ms (missed cycles : 3). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103590 ms (missed cycles : 3).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms ×2 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048498 ms (missed cycles : 2). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048498 ms (missed cycles : 2).[0m ×2 + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770893 ms (missed cycles : 2). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770893 ms (missed cycles : 2).[0m ×2 + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.971ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388235 ms (missed cycles : 3). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388235 ms (missed cycles : 3).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299018 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299018 ms (missed cycles : 3).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms ×2 + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925828 ms (missed cycles : 5). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925828 ms (missed cycles : 5).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161849 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161849 ms (missed cycles : 2).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723900 ms (missed cycles : 3). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723900 ms (missed cycles : 3).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201867 ms (missed cycles : 4). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201867 ms (missed cycles : 4).[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313108 ms (missed cycles : 2). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313108 ms (missed cycles : 2).[0m ×2 + 33.04sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.34sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.34sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603993 ms (missed cycles : 4). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603993 ms (missed cycles : 4).[0m ×2 + 33.76sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.40sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251095 ms (missed cycles : 2). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251095 ms (missed cycles : 2).[0m ×2 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823987 ms (missed cycles : 6). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823987 ms (missed cycles : 6).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202352 ms (missed cycles : 5). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202352 ms (missed cycles : 5).[0m ×2 + 36.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 37.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484785 ms (missed cycles : 4). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484785 ms (missed cycles : 4).[0m ×2 + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 38.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 38.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911619 ms (missed cycles : 2). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911619 ms (missed cycles : 2).[0m ×2 + 38.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms ×2 + 39.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 39.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928260 ms (missed cycles : 2). + 39.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928260 ms (missed cycles : 2).[0m ×2 + 40.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.662107 ms (missed cycles : 10). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.662107 ms (missed cycles : 10).[0m ×2 + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144928 ms (missed cycles : 3). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144928 ms (missed cycles : 3).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929027 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929027 ms (missed cycles : 2).[0m ×2 + 43.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780382 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780382 ms (missed cycles : 2).[0m ×2 + 44.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 44.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888823 ms (missed cycles : 3). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888823 ms (missed cycles : 3).[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169893 ms (missed cycles : 2). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169893 ms (missed cycles : 2).[0m ×2 + 46.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 46.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824038 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824038 ms (missed cycles : 2).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475529 ms (missed cycles : 6). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475529 ms (missed cycles : 6).[0m ×2 + 48.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.060ms + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223953 ms (missed cycles : 5). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223953 ms (missed cycles : 5).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815095 ms (missed cycles : 3). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815095 ms (missed cycles : 3).[0m ×2 + 50.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms ×2 + 51.11sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 51.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287276 ms (missed cycles : 2). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287276 ms (missed cycles : 2).[0m ×2 + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837230 ms (missed cycles : 3). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837230 ms (missed cycles : 3).[0m ×2 + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.754427 ms (missed cycles : 6). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.754427 ms (missed cycles : 6).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256682 ms (missed cycles : 2). + 54.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256682 ms (missed cycles : 2).[0m ×2 + 55.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320746 ms (missed cycles : 2). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320746 ms (missed cycles : 2).[0m ×2 + 55.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms ×2 + 56.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900757 ms (missed cycles : 4). + 56.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900757 ms (missed cycles : 4).[0m ×2 + 56.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336981 ms (missed cycles : 3). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336981 ms (missed cycles : 3).[0m ×2 + 58.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612336 ms (missed cycles : 2). + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612336 ms (missed cycles : 2).[0m ×2 + 58.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 59.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229927 ms (missed cycles : 2). + 59.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229927 ms (missed cycles : 2).[0m ×2 + 60.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 60.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244244 ms (missed cycles : 4). + 60.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244244 ms (missed cycles : 4).[0m ×2 + 60.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 61.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830217 ms (missed cycles : 2). + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830217 ms (missed cycles : 2).[0m ×2 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082971 ms (missed cycles : 2). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082971 ms (missed cycles : 2).[0m ×2 + 63.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 63.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110998 ms (missed cycles : 5). + 63.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110998 ms (missed cycles : 5).[0m ×2 + 64.40sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 64.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168802 ms (missed cycles : 2). + 64.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168802 ms (missed cycles : 2).[0m ×2 + 65.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028607 ms (missed cycles : 5). + 65.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028607 ms (missed cycles : 5).[0m ×2 + 66.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741724 ms (missed cycles : 2). + 66.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741724 ms (missed cycles : 2).[0m ×2 + 67.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806881 ms (missed cycles : 4). + 67.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806881 ms (missed cycles : 4).[0m ×2 + 68.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 68.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729642 ms (missed cycles : 3). + 68.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729642 ms (missed cycles : 3).[0m ×2 + 69.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 69.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859371 ms (missed cycles : 2). + 69.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859371 ms (missed cycles : 2).[0m ×2 + 70.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413893 ms (missed cycles : 2). + 70.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413893 ms (missed cycles : 2).[0m ×2 + 71.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 71.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522225 ms (missed cycles : 3). + 71.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 71.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522225 ms (missed cycles : 3).[0m ×2 + 72.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700004 ms (missed cycles : 2). + 72.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700004 ms (missed cycles : 2).[0m ×2 + 73.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 73.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671547 ms (missed cycles : 3). + 73.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671547 ms (missed cycles : 3).[0m ×2 + 74.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 75.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085010 ms (missed cycles : 2). + 75.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085010 ms (missed cycles : 2).[0m ×2 + 76.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918507 ms (missed cycles : 2). + 76.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918507 ms (missed cycles : 2).[0m ×2 + 76.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785038138.15918875 seconds ×3 + 76.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.868ms + 77.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.990ms + 77.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785038138.70986938 seconds. ×3 + 77.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991699 ms (missed cycles : 2). + 77.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991699 ms (missed cycles : 2).[0m ×2 + 77.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 78.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 78.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 79.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 79.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 79.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.9s	183 warnings · 163 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785037902.38040423 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785037902.93004513 seconds. ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5).[0m ×2 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.6741e-05 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912123 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912123 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785037906.03015161 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785037906.58719420 seconds. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829306 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829306 ms (missed cycles : 6).[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058804 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058804 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674737 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674737 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909163 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909163 ms (missed cycles : 2).[0m ×2 + 8.23sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 1.753ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019557 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019557 ms (missed cycles : 5).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.470ms + 9.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877588 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877588 ms (missed cycles : 3).[0m ×2 + 9.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688961 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688961 ms (missed cycles : 2).[0m ×2 + 10.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 11.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490265 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490265 ms (missed cycles : 2).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 12.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 12.35sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135161 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135161 ms (missed cycles : 3).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830410 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830410 ms (missed cycles : 4).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms ×3 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550055 ms (missed cycles : 7). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550055 ms (missed cycles : 7).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms ×2 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.428954 ms (missed cycles : 6). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.428954 ms (missed cycles : 6).[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142113 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142113 ms (missed cycles : 2).[0m ×2 + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835648 ms (missed cycles : 4). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835648 ms (missed cycles : 4).[0m ×2 + 18.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918169 ms (missed cycles : 5). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.918169 ms (missed cycles : 5).[0m ×2 + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748168 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748168 ms (missed cycles : 2).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511502 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511502 ms (missed cycles : 3).[0m ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726356 ms (missed cycles : 3). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726356 ms (missed cycles : 3).[0m ×2 + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159842 ms (missed cycles : 2). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159842 ms (missed cycles : 2).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562408 ms (missed cycles : 4). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562408 ms (missed cycles : 4).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959888 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959888 ms (missed cycles : 2).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945935 ms (missed cycles : 3). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945935 ms (missed cycles : 3).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733153 ms (missed cycles : 3). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733153 ms (missed cycles : 3).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775707 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775707 ms (missed cycles : 3).[0m ×2 + 28.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221548 ms (missed cycles : 4). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221548 ms (missed cycles : 4).[0m ×2 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259291 ms (missed cycles : 5). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.259291 ms (missed cycles : 5).[0m ×2 + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031166 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031166 ms (missed cycles : 2).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448524 ms (missed cycles : 4). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448524 ms (missed cycles : 4).[0m ×2 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 33.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 33.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721688 ms (missed cycles : 2). + 33.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721688 ms (missed cycles : 2).[0m ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321410 ms (missed cycles : 4). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321410 ms (missed cycles : 4).[0m ×2 + 34.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 35.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349877 ms (missed cycles : 4). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349877 ms (missed cycles : 4).[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754951 ms (missed cycles : 2). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754951 ms (missed cycles : 2).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577958 ms (missed cycles : 4). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577958 ms (missed cycles : 4).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764369 ms (missed cycles : 5). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764369 ms (missed cycles : 5).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873132 ms (missed cycles : 3). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873132 ms (missed cycles : 3).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381362 ms (missed cycles : 4). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381362 ms (missed cycles : 4).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427724 ms (missed cycles : 4). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427724 ms (missed cycles : 4).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241921 ms (missed cycles : 4). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241921 ms (missed cycles : 4).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543491 ms (missed cycles : 4). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543491 ms (missed cycles : 4).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299418 ms (missed cycles : 2). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299418 ms (missed cycles : 2).[0m ×2 + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103657 ms (missed cycles : 2). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103657 ms (missed cycles : 2).[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766948 ms (missed cycles : 3). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766948 ms (missed cycles : 3).[0m ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833144 ms (missed cycles : 3). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833144 ms (missed cycles : 3).[0m ×2 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705286 ms (missed cycles : 2). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705286 ms (missed cycles : 2).[0m ×2 + 49.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105751 ms (missed cycles : 2). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105751 ms (missed cycles : 2).[0m ×2 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807541 ms (missed cycles : 2). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807541 ms (missed cycles : 2).[0m ×2 + 51.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025882 ms (missed cycles : 4). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025882 ms (missed cycles : 4).[0m ×2 + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220234 ms (missed cycles : 3). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220234 ms (missed cycles : 3).[0m ×2 + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838496 ms (missed cycles : 2). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838496 ms (missed cycles : 2).[0m ×2 + 55.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762319 ms (missed cycles : 3). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762319 ms (missed cycles : 3).[0m ×2 + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 56.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 57.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 59.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 59.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 59.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 60.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 60.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 60.74sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 60.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 61.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 61.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 61.55sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 61.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 61.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 62.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 62.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 63.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.7s	183 warnings · 149 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997337 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997337 ms (missed cycles : 3).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817464 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817464 ms (missed cycles : 2).[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407364 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407364 ms (missed cycles : 3).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.477ms + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.560ms + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943347 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943347 ms (missed cycles : 2).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.323ms + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.938ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100149 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100149 ms (missed cycles : 2).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 5.296ms + 12.15sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 4.588ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269456 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269456 ms (missed cycles : 3).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.644ms + 13.14sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.847ms + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254978 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254978 ms (missed cycles : 2).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.661ms + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236762 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236762 ms (missed cycles : 2).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911381 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911381 ms (missed cycles : 3).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 15.87sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942901 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942901 ms (missed cycles : 2).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189230 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189230 ms (missed cycles : 2).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844895 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844895 ms (missed cycles : 3).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486625 ms (missed cycles : 4). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486625 ms (missed cycles : 4).[0m ×2 + 20.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678291 ms (missed cycles : 3). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678291 ms (missed cycles : 3).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 21.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199249 ms (missed cycles : 2). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199249 ms (missed cycles : 2).[0m ×2 + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762782 ms (missed cycles : 4). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762782 ms (missed cycles : 4).[0m ×2 + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174407 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174407 ms (missed cycles : 2).[0m ×2 + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822306 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822306 ms (missed cycles : 2).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651490 ms (missed cycles : 4). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651490 ms (missed cycles : 4).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305005 ms (missed cycles : 2). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305005 ms (missed cycles : 2).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.773ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531744 ms (missed cycles : 2). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531744 ms (missed cycles : 2).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574775 ms (missed cycles : 3). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574775 ms (missed cycles : 3).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931467 ms (missed cycles : 2). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931467 ms (missed cycles : 2).[0m ×2 + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955745 ms (missed cycles : 3). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955745 ms (missed cycles : 3).[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733441 ms (missed cycles : 2). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733441 ms (missed cycles : 2).[0m ×2 + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877276 ms (missed cycles : 2). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877276 ms (missed cycles : 2).[0m ×2 + 33.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145413 ms (missed cycles : 4). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145413 ms (missed cycles : 4).[0m ×2 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369093 ms (missed cycles : 2). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369093 ms (missed cycles : 2).[0m ×2 + 35.32sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776714 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776714 ms (missed cycles : 2).[0m ×2 + 36.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086554 ms (missed cycles : 2). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086554 ms (missed cycles : 2).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164289 ms (missed cycles : 2). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164289 ms (missed cycles : 2).[0m ×2 + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457059 ms (missed cycles : 4). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457059 ms (missed cycles : 4).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.031008 ms (missed cycles : 8). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.031008 ms (missed cycles : 8).[0m ×2 + 40.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053060 ms (missed cycles : 2). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053060 ms (missed cycles : 2).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297708 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297708 ms (missed cycles : 2).[0m ×2 + 42.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784924 ms (missed cycles : 5). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784924 ms (missed cycles : 5).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544158 ms (missed cycles : 3). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544158 ms (missed cycles : 3).[0m ×2 + 45.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361718 ms (missed cycles : 3). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361718 ms (missed cycles : 3).[0m ×2 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339122 ms (missed cycles : 3). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339122 ms (missed cycles : 3).[0m ×2 + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795637 ms (missed cycles : 2). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795637 ms (missed cycles : 2).[0m ×2 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.439297 ms (missed cycles : 7). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.439297 ms (missed cycles : 7).[0m ×2 + 49.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881221 ms (missed cycles : 2). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881221 ms (missed cycles : 2).[0m ×2 + 49.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180496 ms (missed cycles : 5). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180496 ms (missed cycles : 5).[0m ×2 + 51.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.689388 ms (missed cycles : 6). + 51.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.689388 ms (missed cycles : 6).[0m ×2 + 52.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326144 ms (missed cycles : 4). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326144 ms (missed cycles : 4).[0m ×2 + 53.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419409 ms (missed cycles : 5). + 53.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419409 ms (missed cycles : 5).[0m ×2 + 54.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862782 ms (missed cycles : 3). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862782 ms (missed cycles : 3).[0m ×2 + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349138 ms (missed cycles : 2). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349138 ms (missed cycles : 2).[0m ×2 + 56.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 56.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855854 ms (missed cycles : 4). + 56.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855854 ms (missed cycles : 4).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519210 ms (missed cycles : 2). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519210 ms (missed cycles : 2).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048209 ms (missed cycles : 2). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048209 ms (missed cycles : 2).[0m ×2 + 60.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764124 ms (missed cycles : 3). + 60.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764124 ms (missed cycles : 3).[0m ×2 + 60.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 60.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785038199.68638849 seconds ×3 + 61.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.985ms + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796773 ms (missed cycles : 6). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796773 ms (missed cycles : 6).[0m ×2 + 61.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.311ms + 61.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785038200.25224352 seconds. ×3 + 61.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.616ms + 61.77sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 61.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909737 ms (missed cycles : 3). + 62.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909737 ms (missed cycles : 3).[0m ×2 + 63.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032396 ms (missed cycles : 4). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032396 ms (missed cycles : 4).[0m ×2 + 63.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.623ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.2s	180 warnings · 170 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.97sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785037999.45193148 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.244ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785038000.00945854 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.035ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.838ms + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 6.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3).[0m ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 6.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 7.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.910ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560045 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560045 ms (missed cycles : 3).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.433ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475532 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475532 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.121ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621064 ms (missed cycles : 5). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621064 ms (missed cycles : 5).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.156ms + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268647 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268647 ms (missed cycles : 2).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.890ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608179 ms (missed cycles : 5). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608179 ms (missed cycles : 5).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.711ms + 12.00sINFOamclParticle filter update iteration stats: 4849 particles 723 points - 5.151ms + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956333 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956333 ms (missed cycles : 2).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 4.795ms + 13.01sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 5.523ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811867 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811867 ms (missed cycles : 3).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 4.598ms + 14.02sINFOamclParticle filter update iteration stats: 3034 particles 723 points - 3.891ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438195 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438195 ms (missed cycles : 4).[0m ×2 + 14.52sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 3.727ms + 15.03sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 3.542ms + 15.51sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 3.355ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564517 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564517 ms (missed cycles : 3).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 3.009ms + 16.52sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 3.620ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815464 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815464 ms (missed cycles : 3).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 2565 particles 723 points - 3.093ms + 17.52sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 3.001ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758448 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758448 ms (missed cycles : 2).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.975ms + 18.52sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.890ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261580 ms (missed cycles : 4). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261580 ms (missed cycles : 4).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.700ms + 19.50sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.265ms + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360296 ms (missed cycles : 4). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360296 ms (missed cycles : 4).[0m ×2 + 20.03sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 2.834ms + 20.52sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 2.020ms + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512232 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512232 ms (missed cycles : 3).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.252ms + 21.51sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.602ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816231 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816231 ms (missed cycles : 2).[0m ×2 + 22.03sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.123ms + 22.52sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.068ms + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030912 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030912 ms (missed cycles : 2).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.652ms + 23.51sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 2.627ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677568 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677568 ms (missed cycles : 3).[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.689ms + 24.52sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 1.859ms + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.871194 ms (missed cycles : 6). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.871194 ms (missed cycles : 6).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 2.085ms + 25.50sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.269ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141182 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141182 ms (missed cycles : 2).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358872 ms (missed cycles : 4). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358872 ms (missed cycles : 4).[0m ×2 + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946803 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946803 ms (missed cycles : 2).[0m ×2 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041354 ms (missed cycles : 2). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041354 ms (missed cycles : 2).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms ×3 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164214 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164214 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085793 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085793 ms (missed cycles : 2).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948521 ms (missed cycles : 6). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948521 ms (missed cycles : 6).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698028 ms (missed cycles : 3). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698028 ms (missed cycles : 3).[0m ×2 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121437 ms (missed cycles : 5). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121437 ms (missed cycles : 5).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573373 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573373 ms (missed cycles : 2).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.889492 ms (missed cycles : 8). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.889492 ms (missed cycles : 8).[0m ×2 + 36.97sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 37.68sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993677 ms (missed cycles : 5). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993677 ms (missed cycles : 5).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 39.24sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452879 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452879 ms (missed cycles : 3).[0m ×2 + 39.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 40.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878214 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878214 ms (missed cycles : 2).[0m ×2 + 40.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 41.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297263 ms (missed cycles : 3). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297263 ms (missed cycles : 3).[0m ×2 + 42.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855290 ms (missed cycles : 3). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855290 ms (missed cycles : 3).[0m ×2 + 42.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685092 ms (missed cycles : 3). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685092 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571321 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571321 ms (missed cycles : 2).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156719 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156719 ms (missed cycles : 2).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870924 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870924 ms (missed cycles : 2).[0m ×2 + 46.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 47.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182270 ms (missed cycles : 2). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182270 ms (missed cycles : 2).[0m ×2 + 48.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511364 ms (missed cycles : 3). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511364 ms (missed cycles : 3).[0m ×2 + 49.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849371 ms (missed cycles : 3). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849371 ms (missed cycles : 3).[0m ×2 + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485969 ms (missed cycles : 5). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485969 ms (missed cycles : 5).[0m ×2 + 51.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926872 ms (missed cycles : 3). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926872 ms (missed cycles : 3).[0m ×2 + 52.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 52.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684785 ms (missed cycles : 3). + 52.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684785 ms (missed cycles : 3).[0m ×2 + 53.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 53.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.280429 ms (missed cycles : 5). + 53.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.280429 ms (missed cycles : 5).[0m ×2 + 55.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655799 ms (missed cycles : 3). + 55.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655799 ms (missed cycles : 3).[0m ×2 + 55.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 56.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892738 ms (missed cycles : 5). + 56.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892738 ms (missed cycles : 5).[0m ×2 + 56.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 57.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328912 ms (missed cycles : 2). + 57.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328912 ms (missed cycles : 2).[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 58.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934924 ms (missed cycles : 3). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934924 ms (missed cycles : 3).[0m ×2 + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572676 ms (missed cycles : 6). + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572676 ms (missed cycles : 6).[0m ×2 + 59.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785038054.67958641 seconds ×3 + 59.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.627ms + 59.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 59.79sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785038055.24031711 seconds. ×3 + 60.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.039ms + 60.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.074695 ms (missed cycles : 8). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.074695 ms (missed cycles : 8).[0m ×2 + 60.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.521ms + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.378ms + 60.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.466ms + 61.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.883ms + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828753 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828753 ms (missed cycles : 2).[0m ×2 + 61.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 61.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.703ms + 61.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.932ms
✓ 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 7.883659 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445447 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445447 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874136 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874136 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461658 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461658 ms (missed cycles : 4).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820316 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820316 ms (missed cycles : 3).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069707 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069707 ms (missed cycles : 4).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991621 ms (missed cycles : 5). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991621 ms (missed cycles : 5).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243456 ms (missed cycles : 5). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243456 ms (missed cycles : 5).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063648 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063648 ms (missed cycles : 2).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218799 ms (missed cycles : 4). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218799 ms (missed cycles : 4).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930726 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930726 ms (missed cycles : 4).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484518 ms (missed cycles : 5). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484518 ms (missed cycles : 5).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520623 ms (missed cycles : 4). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520623 ms (missed cycles : 4).[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067929 ms (missed cycles : 4). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067929 ms (missed cycles : 4).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249479 ms (missed cycles : 4). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249479 ms (missed cycles : 4).[0m ×2 + 20.23sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.364ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803209 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803209 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876693 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876693 ms (missed cycles : 2).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164807 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164807 ms (missed cycles : 3).[0m ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524905 ms (missed cycles : 3). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524905 ms (missed cycles : 3).[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996285 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996285 ms (missed cycles : 3).[0m ×2 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763024 ms (missed cycles : 2). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763024 ms (missed cycles : 2).[0m ×2 + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114874 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114874 ms (missed cycles : 2).[0m ×2 + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715036 ms (missed cycles : 3). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715036 ms (missed cycles : 3).[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.738808 ms (missed cycles : 7). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.738808 ms (missed cycles : 7).[0m ×2 + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408768 ms (missed cycles : 3). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408768 ms (missed cycles : 3).[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790935 ms (missed cycles : 2). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790935 ms (missed cycles : 2).[0m ×2 + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668549 ms (missed cycles : 4). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668549 ms (missed cycles : 4).[0m ×2 + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814858 ms (missed cycles : 2). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814858 ms (missed cycles : 2).[0m ×2 + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.233479 ms (missed cycles : 7). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.233479 ms (missed cycles : 7).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925969 ms (missed cycles : 5). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925969 ms (missed cycles : 5).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936107 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936107 ms (missed cycles : 2).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758159 ms (missed cycles : 3). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758159 ms (missed cycles : 3).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728774 ms (missed cycles : 3). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728774 ms (missed cycles : 3).[0m ×2 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973464 ms (missed cycles : 2). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973464 ms (missed cycles : 2).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177151 ms (missed cycles : 3). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177151 ms (missed cycles : 3).[0m ×2 + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889499 ms (missed cycles : 2). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889499 ms (missed cycles : 2).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317959 ms (missed cycles : 4). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317959 ms (missed cycles : 4).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967908 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967908 ms (missed cycles : 3).[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3). + 44.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5).[0m ×2 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2).[0m ×2 + 47.09sINFOjoint_trajectory_controllerGoal reached, success! + 47.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785037902.38040423 seconds ×3 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3). + 47.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3).[0m ×2 + 47.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785037902.93004513 seconds. ×3 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5).[0m ×2 + 48.67sINFOobjective_server_nodeFound path in 0 iterations (3.6741e-05 s). ×2 + 48.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.8s	108 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461222 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461222 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.216672 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.216672 ms (missed cycles : 5).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.45sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.49sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785037967.63097930 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182031 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182031 ms (missed cycles : 2).[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785037969.18174672 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618330 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618330 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462558 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462558 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621263 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621263 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673503 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673503 ms (missed cycles : 2).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774353 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774353 ms (missed cycles : 3).[0m ×2 + 8.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572828 ms (missed cycles : 6). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572828 ms (missed cycles : 6).[0m ×2 + 9.54sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.653ms + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.736ms + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440663 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440663 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.640ms + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.416ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647025 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647025 ms (missed cycles : 3).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.516ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913806 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913806 ms (missed cycles : 3).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.164ms + 13.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.231ms + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904049 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904049 ms (missed cycles : 3).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.142ms + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.723ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088439 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088439 ms (missed cycles : 4).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.496ms + 15.53sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 5.149ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339633 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339633 ms (missed cycles : 3).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 4.222ms + 16.52sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 3.347ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134813 ms (missed cycles : 5). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134813 ms (missed cycles : 5).[0m ×2 + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163196 ms (missed cycles : 5). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163196 ms (missed cycles : 5).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922522 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922522 ms (missed cycles : 2).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269993 ms (missed cycles : 3). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269993 ms (missed cycles : 3).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801262 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801262 ms (missed cycles : 2).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246599 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246599 ms (missed cycles : 2).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283819 ms (missed cycles : 2). + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283819 ms (missed cycles : 2).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654266 ms (missed cycles : 3). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654266 ms (missed cycles : 3).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442386 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442386 ms (missed cycles : 2).[0m ×2 + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.437882 ms (missed cycles : 7). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.437882 ms (missed cycles : 7).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316864 ms (missed cycles : 6). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316864 ms (missed cycles : 6).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910688 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910688 ms (missed cycles : 2).[0m ×2 + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623231 ms (missed cycles : 4). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623231 ms (missed cycles : 4).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3).[0m ×2 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2).[0m ×2 + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6).[0m ×2 + 33.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 34.31sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785037999.45193148 seconds ×3 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2).[0m ×2 + 34.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 34.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.244ms + 34.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785038000.00945854 seconds. ×3 + 35.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 35.22sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 35.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.035ms + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3).[0m ×2 + 35.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.838ms + 36.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 36.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3). + 36.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3).[0m ×2 + 36.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 36.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.0s	60 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855854 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855854 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519210 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519210 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048209 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048209 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764124 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764124 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 3.91sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785038199.68638849 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.985ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796773 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796773 ms (missed cycles : 6).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.311ms + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785038200.25224352 seconds. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.616ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.86sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.86sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.86sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909737 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909737 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032396 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032396 ms (missed cycles : 4).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.623ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810690 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810690 ms (missed cycles : 5).[0m ×2 + 8.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.426ms + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780847 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780847 ms (missed cycles : 3).[0m ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 9.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.27sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108776 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108776 ms (missed cycles : 2).[0m ×2 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 9.68sINFOobjective_server_nodeFound path in 29 iterations (0.0256508 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676336 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676336 ms (missed cycles : 2).[0m ×2 + 10.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.69sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388635 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388635 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261362 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261362 ms (missed cycles : 2).[0m ×2 + 12.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305287 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305287 ms (missed cycles : 2).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.036ms + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3).[0m ×2 + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.884ms + 15.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.637ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.610ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6).[0m ×2 + 16.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785038212.70392966 seconds ×3 + 17.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.529ms + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.697ms + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3).[0m ×2 + 17.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785038213.30093408 seconds. ×3 + 17.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.55sINFOmove_groupClearing octomap...[0m ×2 + 17.55sINFOmove_groupOctomap cleared.[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 18.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.035ms + 18.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785038213.87107444 seconds ×3 + 18.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.739ms + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.172ms + 18.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785038214.42704749 seconds. ×3 + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.440ms + 18.94sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 19.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5).[0m ×2 + 19.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785038215.40718746 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.2s	83 errors · 36 warnings · 399 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3).[0m ×2 + 0.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.884ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.637ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.610ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785038212.70392966 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.529ms + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.697ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785038213.30093408 seconds. ×3 + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.54sINFOmove_groupClearing octomap...[0m ×2 + 3.54sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.035ms + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785038213.87107444 seconds ×3 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.739ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.172ms + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785038214.42704749 seconds. ×3 + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.440ms + 4.93sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785038215.40718746 seconds ×3 + 5.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210718 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210718 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879124 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879124 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843754 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843754 ms (missed cycles : 4).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090481 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090481 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573574 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573574 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395544 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395544 ms (missed cycles : 2).[0m ×2 + 11.98sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] ×2 + 12.03sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORweb_video_auth_proxy-33process has died [pid 9376, 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 + 12.03sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] ×2 + 12.06sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORweb_bridge_auth_proxy-32process has died [pid 9374, 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 + 12.07sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.07sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.09sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.10sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 12.12sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 12.14sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 12.17sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 12.20sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 12.22sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 12.25sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 12.27sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 12.30sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 12.32sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 12.35sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 12.36sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system ×2 + 12.36sINFOweb_video_server-31process has finished cleanly [pid 9373] ×2 + 12.37sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 12.39sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9372] ×2 + 12.39sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 12.43sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 12.43sINFOcontroller_managerShutdown request received.... + 12.43sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.43sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.43sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.43sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.43sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.43sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.43sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.43sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.43sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.43sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.43sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.43sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.43sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.43sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.43sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.43sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.43sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.43sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.43sINFOcontroller_managerShutting down the controller manager. + 12.45sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 12.47sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 12.47sERRORmove_group-19process has died [pid 9338, 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_w53g2da9 --params-file /tmp/launch_params_49m16f_o --params-file /tmp/launch_params_ev06prxk --params-file /tmp/launch_params_reuqfclt --params-file /tmp/launch_params_6y6e65k2 --params-file /tmp/launch_params_1cswkyqy']. ×2 + 12.49sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 12.50sERRORui_teleop_bridge-28process has died [pid 9367, 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_l8v0obtd']. ×2 + 12.51sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.53sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 12.55sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.56sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.56sINFOmap_serverDeactivating + 12.56sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.56sINFOexecute_objective_bridge-27process has finished cleanly [pid 9365] ×2 + 12.56sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.56sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.56sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 12.56sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 12.56sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 12.56sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.56sINFOui_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 + 12.56sINFOui_teleop_bridgerclpy.shutdown() ×2 + 12.56sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 12.56sINFOui_teleop_bridge_shutdown(context=context) ×2 + 12.56sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 12.56sINFOui_teleop_bridgecontext.shutdown() ×2 + 12.56sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 12.56sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 12.56sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 12.56sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.56sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.56sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.56sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.56sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.56sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.57sINFOmap_serverCleaning up + 12.57sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.57sINFOcontroller_serverCleaning up + 12.57sINFOlocal_costmap.local_costmapCleaning up + 12.57sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.57sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 12.57sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.57sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.57sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.57sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.57sERRORmove_groupStack trace (most recent call last) in thread 9958: ×2 + 12.57sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.57sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5237905a63, in __clone ×2 + 12.57sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5237878aa3, in ×2 + 12.57sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5237b0adb3, in ×2 + 12.57sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f523824ded7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.57sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5237e7d4d0, in rclcpp::Rate::sleep() ×2 + 12.57sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5237dd0a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.57sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5237d95a71, in ×2 + 12.57sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5237ad9390, in __cxa_throw ×2 + 12.57sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5237ac3a54, in std::terminate() ×2 + 12.57sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5237ad90d9, in ×2 + 12.57sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5237ac3ff4, in ×2 + 12.57sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f52378048fe, in abort ×2 + 12.57sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f523782127d, in raise ×2 + 12.57sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f523787ab2c, in pthread_kill ×2 + 12.57sERRORmove_groupAborted (Signal sent by tkill() 9338 0) ×2 + 12.57sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.57sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.57sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.57sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.57sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.57sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.57sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.57sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.58sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.58sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.58sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.58sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.58sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.58sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.58sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.58sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.58sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.58sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.58sINFOobjective_server_node[2026-07-26 03:57:02.203] [moveit_pro_license] [info] ×2 + 12.58sINFOobjective_server_node************************************************* ×4 + 12.58sINFOobjective_server_node* MoveIt Pro License ×2 + 12.58sINFOobjective_server_node* Application has successfully terminated ×2 + 12.58sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.58sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.58sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.58sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561d1c8d66a4, in _start ×2 + 12.58sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd87471828a, in __libc_start_main ×2 + 12.58sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8747181d0, in ×2 + 12.58sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd874735bbd, in exit ×2 + 12.58sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd874735a75, in ×2 + 12.58sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fd874c048f5, in spdlog::details::registry::~registry() ×2 + 12.58sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561d1c8d6d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.58sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561d1c8dd315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 12.58sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561d1c8dc5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 12.58sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561d1c8d8b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 12.58sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561d1c8d6d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.58sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8752ba454, in rclcpp::Node::~Node() ×2 + 12.58sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd875275515, in ×2 + 12.58sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8752b8d20, in ×2 + 12.58sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8752b8c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 12.58sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8752755d9, in ×2 + 12.58sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd87527a161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 12.58sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd8202d3090]) ×2 + 12.58sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.58sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.58sINFOodom_qos_relay.pymain() ×2 + 12.58sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.58sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.58sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.58sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.58sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.59sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.59sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.59sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.59sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.59sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.59sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.59sERRORobjective_server_node_main-24process has died [pid 9362, 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_qdj5r0d6 --params-file /tmp/launch_params_q94eshqp --params-file /tmp/launch_params_jszhs4tf --params-file /tmp/launch_params_np7u_hmw --params-file /tmp/launch_params_45vv97g1 --params-file /tmp/launch_params_xwpy9g4y --params-file /tmp/launch_params_rgx0bv8x --params-file /tmp/launch_params_p811qegg --params-file /tmp/launch_params_151axprb']. ×2 + 12.59sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 12.61sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 12.61sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.61sINFOsmoother_serverCleaning up + 12.62sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 12.62sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.62sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.64sERRORamclThe bond connection to the lifecycle manager has been broken + 12.64sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.64sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.65sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.65sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.65sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 12.65sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.65sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 12.65sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.65sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 12.65sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.65sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 12.65sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.65sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 12.65sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.08sERRORcomponent_container_isolated-1process has died [pid 9251, 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_ntuglbib --params-file /tmp/launch_params_h23_akvl -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.35sINFOcomponent_container_mt-26process has finished cleanly [pid 9364] ×2 + 13.35sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9361] ×2 + 13.38sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9341] ×2 + 13.45sINFOwaypoint_manager_node-21process has finished cleanly [pid 9340] ×2 + 13.46sINFOparameter_manager_node-20process has finished cleanly [pid 9339] ×2 + 13.49sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9256] ×2 + 13.50sINFOcomponent_container_mt-25process has finished cleanly [pid 9363] ×2 + 13.51sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9255] ×2 + 13.55sINFOstatic_transform_publisher-3process has finished cleanly [pid 9253] ×2 + 13.57sINFOstatic_transform_publisher-2process has finished cleanly [pid 9252] ×2 + 13.59sERRORodom_qos_relay.py-4process has died [pid 9254, 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 + 14.93sINFOweb_bridge-29process has finished cleanly [pid 9371] ×2 + 14.93sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 15.24sINFOros2_control_node-7process has finished cleanly [pid 9257] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 54 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655799 ms (missed cycles : 3).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892738 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892738 ms (missed cycles : 5).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328912 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328912 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934924 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934924 ms (missed cycles : 3).[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572676 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572676 ms (missed cycles : 6).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785038054.67958641 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.627ms + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785038055.24031711 seconds. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.039ms + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.074695 ms (missed cycles : 8). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.074695 ms (missed cycles : 8).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.521ms + 5.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.378ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.466ms + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.883ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828753 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828753 ms (missed cycles : 2).[0m ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.703ms + 6.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.932ms + 7.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.616ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379595 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379595 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.096ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065656 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065656 ms (missed cycles : 5).[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.788ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.928812 ms (missed cycles : 5). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.928812 ms (missed cycles : 5).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 10.17sINFOamclParticle filter update iteration stats: 4632 particles 723 points - 5.897ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880062 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880062 ms (missed cycles : 3).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 6.008ms + 11.15sINFOamclParticle filter update iteration stats: 3804 particles 723 points - 4.731ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471731 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471731 ms (missed cycles : 3).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 4.043ms + 12.16sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 3.714ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645430 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645430 ms (missed cycles : 3).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.906ms + 13.16sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 3.965ms + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880187 ms (missed cycles : 6). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880187 ms (missed cycles : 6).[0m ×2 + 13.65sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 3.677ms + 14.16sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 3.123ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445950 ms (missed cycles : 6). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445950 ms (missed cycles : 6).[0m ×2 + 14.66sINFOamclParticle filter update iteration stats: 2701 particles 723 points - 3.110ms + 15.03sINFOjoint_trajectory_controllerGot request to cancel goal + 15.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785038065.56021643 seconds ×3 + 15.16sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 2.792ms + 15.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.351ms + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029527 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029527 ms (missed cycles : 2).[0m ×2 + 15.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.403ms + 15.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785038066.11902618 seconds. ×3 + 15.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.633ms + 15.97sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 16.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.545ms + 16.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545805 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545805 ms (missed cycles : 4).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.555ms + 17.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930847 ms (missed cycles : 5). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930847 ms (missed cycles : 5).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.7s	39 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 4.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461222 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461222 ms (missed cycles : 2).[0m ×2 + 8.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.216672 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.216672 ms (missed cycles : 5).[0m ×2 + 8.85sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785037967.63097930 seconds ×3 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182031 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182031 ms (missed cycles : 2).[0m ×2 + 10.40sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785037969.18174672 seconds. ×3 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618330 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618330 ms (missed cycles : 4).[0m ×2 + 10.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462558 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462558 ms (missed cycles : 4).[0m ×2 + 12.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621263 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621263 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.8s	33 warnings · 64 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700004 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700004 ms (missed cycles : 2).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671547 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671547 ms (missed cycles : 3).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085010 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085010 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918507 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918507 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785038138.15918875 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.868ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.990ms + 4.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785038138.70986938 seconds. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991699 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991699 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 4.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 8.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 9.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	33 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967908 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967908 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785037902.38040423 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785037902.93004513 seconds. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.6741e-05 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912123 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912123 ms (missed cycles : 2).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785037906.03015161 seconds ×3 + 8.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785037906.58719420 seconds. ×3 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829306 ms (missed cycles : 6). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829306 ms (missed cycles : 6).[0m ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058804 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058804 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674737 ms (missed cycles : 4). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674737 ms (missed cycles : 4).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	22 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305287 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.036ms + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.884ms + 1.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.637ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.610ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785038212.70392966 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.529ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.697ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785038213.30093408 seconds. ×3 + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.19sINFOmove_groupClearing octomap...[0m ×2 + 4.19sINFOmove_groupOctomap cleared.[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.035ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785038213.87107444 seconds ×3 + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.739ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3).[0m ×2 + 5.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.172ms + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785038214.42704749 seconds. ×3 + 5.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.440ms + 5.58sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 6.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785038215.40718746 seconds ×3 + 6.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210718 ms (missed cycles : 2).
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785037902.38040423 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785037902.93004513 seconds. ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5).[0m ×2 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.6741e-05 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912123 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912123 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785037906.03015161 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785037906.58719420 seconds. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829306 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829306 ms (missed cycles : 6).[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058804 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058804 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674737 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674737 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 4.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×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 7.883659 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.67sINFOmove_groupClearing octomap...[0m ×2 + 1.67sINFOmove_groupOctomap cleared.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445447 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445447 ms (missed cycles : 3).[0m ×2
− 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 4.967908 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967908 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785037902.38040423 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785037902.93004513 seconds. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.6741e-05 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 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 4.967908 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967908 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806537 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473710 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087955 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785037902.38040423 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348606 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785037902.93004513 seconds. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947489 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.6741e-05 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 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 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 4.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 4.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 4.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059698 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729655 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093746 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147846 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785037962.95736694 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197365 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 3.307ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 4.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785037963.53082895 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065388 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392265 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.100ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785037999.45193148 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.244ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785038000.00945854 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.035ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.838ms + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 6.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3).[0m ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785037999.45193148 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.244ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785038000.00945854 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.035ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.838ms + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 6.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3).[0m ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914272 ms (missed cycles : 3).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747887 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736849 ms (missed cycles : 2).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598716 ms (missed cycles : 6).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785037999.45193148 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144404 ms (missed cycles : 2).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.244ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785038000.00945854 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.035ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149449 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.838ms + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 6.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863526 ms (missed cycles : 3).[0m ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms
− 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 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 44 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 0.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902243 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407797 ms (missed cycles : 3).[0m ×2 + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081946 ms (missed cycles : 3).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820009 ms (missed cycles : 2).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785038143.00004768 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785038143.56623888 seconds. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195866 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429877 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305287 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.036ms + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875254 ms (missed cycles : 3).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.884ms + 1.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.637ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685454 ms (missed cycles : 2).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.610ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.858622 ms (missed cycles : 6).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785038212.70392966 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.529ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.697ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944048 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785038213.30093408 seconds. ×3 + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.19sINFOmove_groupClearing octomap...[0m ×2 + 4.19sINFOmove_groupOctomap cleared.[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.035ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785038213.87107444 seconds ×3 + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.739ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374510 ms (missed cycles : 3).[0m ×2 + 5.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.172ms + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785038214.42704749 seconds. ×3 + 5.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.440ms + 5.58sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 6.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727180 ms (missed cycles : 5).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785038215.40718746 seconds ×3
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	23 warnings · 103 info
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777417 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.68sINFOmove_groupClearing octomap...[0m ×2 + 4.68sINFOmove_groupOctomap cleared.[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 5.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 6.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 7.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	20 warnings · 85 info
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777417 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.68sINFOmove_groupClearing octomap...[0m ×2 + 4.68sINFOmove_groupOctomap cleared.[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 5.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 6.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_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 3.769916 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769916 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.68sINFOmove_groupClearing octomap...[0m ×2 + 3.68sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445447 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445447 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	visualize_tf.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869029 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883659 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031339 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785037856.90041614 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785037856.91061449 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731180 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785037857.47087812 seconds. ×3 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785037857.48296237 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785037858.03636003 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785037858.18694901 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316308 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785037858.77127337 seconds. ×3 + 4.55sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785037858.84141827 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419657 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785037859.40317512 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779568 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2