69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
21.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 24.6s | 61 errors · 784 warnings · 1952 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/2026-07-26-14-51-08-535939-97df90809fd0-9258 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 9.06sINFOros2_control_node-7process started with pid [9314] + 9.06sINFOmove_group-19process started with pid [9410] + 9.06sINFOparameter_manager_node-20process started with pid [9411] + 9.06sINFOwaypoint_manager_node-21process started with pid [9412] + 9.06sINFOmove_joint_resampler_node-22process started with pid [9413] + 9.06sINFOmove_end_effector_resampler_node-23process started with pid [9421] + 9.06sINFOobjective_server_node_main-24process started with pid [9422] + 9.06sINFOcomponent_container_mt-25process started with pid [9423] + 9.06sINFOcomponent_container_mt-26process started with pid [9424] + 9.06sINFOexecute_objective_bridge-27process started with pid [9425] + 9.06sINFOui_teleop_bridge-28process started with pid [9426] + 9.06sINFOweb_bridge-29process started with pid [9427] + 9.06sINFOtf2_web_republisher_node-30process started with pid [9428] + 9.06sINFOweb_video_server-31process started with pid [9429] + 9.06sINFOweb_bridge_auth_proxy-32process started with pid [9431] + 9.06sINFOweb_video_auth_proxy-33process started with pid [9432] + 9.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 9.09sINFOcomponent_container_isolated-1process started with pid [9308] + 9.09sINFOstatic_transform_publisher-2process started with pid [9309] + 9.09sINFOstatic_transform_publisher-3process started with pid [9310] + 9.09sINFOodom_qos_relay.py-4process started with pid [9311] + 9.09sINFOscan_to_scan_filter_chain-5process started with pid [9312] + 9.09sINFOscan_to_scan_filter_chain-6process started with pid [9313] + 9.09sINFOros2-8process started with pid [9315] + 9.09sINFOros2-9process started with pid [9382] + 9.09sINFOros2-10process started with pid [9383] + 9.09sINFOros2-11process started with pid [9384] + 9.09sINFOros2-12process started with pid [9385] + 9.09sINFOros2-13process started with pid [9386] + 9.09sINFOros2-14process started with pid [9387] + 9.09sINFOros2-15process started with pid [9388] + 9.09sINFOros2-16process started with pid [9389] + 9.09sINFOros2-17process started with pid [9390] + 9.09sINFOros2-18process started with pid [9391] + 9.13sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 9.13sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 9.13sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 9.13sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 9.13sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.13sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 9.13sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.13sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692996 ms (missed cycles : 2).[0m + 9.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 9.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 9.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 9.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.26sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 9.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 9.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.47sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 9.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 9.56sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.57sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.58sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.60sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.61sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 9.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 9.79sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 9.80sINFOmove_groupLoaded robot model in 0.471962 seconds[0m + 9.81sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.81sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984729 ms (missed cycles : 2).[0m + 10.38sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.40sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.40sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.41sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.41sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.48sINFOwaypoint_manager_nodeLoaded robot model in 0.434548 seconds[0m + 10.48sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 10.48sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.77sINFOmove_group[2026-07-26 14:51:21.765] [moveit_pro_license] [info] + 10.77sINFOmove_group************************************************* ×6 + 10.77sINFOmove_group* MoveIt Pro License ×3 + 10.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.84sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×14 + 10.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 11.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 11.17sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 11.17sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 11.17sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 11.17sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.17sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 11.18sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 11.18sINFOmove_groupStarting planning scene monitor[0m ×3 + 11.18sINFOmove_groupListening to '/planning_scene'[0m ×3 + 11.18sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 11.18sINFOmove_groupListening to 'collision_object'[0m ×3 + 11.18sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 11.26sINFOwaypoint_manager_node[2026-07-26 14:51:22.255] [moveit_pro_license] [info] + 11.26sINFOwaypoint_manager_node************************************************* ×6 + 11.26sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 11.26sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.54sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 11.54sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.55sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 11.62sINFOobjective_server_node[2026-07-26 14:51:22.613] [moveit_pro_license] [info] + 11.62sINFOobjective_server_node************************************************* ×8 + 11.62sINFOobjective_server_node* MoveIt Pro License ×4 + 11.62sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 11.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 11.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 11.67sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.67sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.67sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.67sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.67sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.67sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.67sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.67sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.67sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.67sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.67sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.67sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.68sINFOobjective_server_nodeLoaded robot model in 0.0186771 seconds[0m + 11.68sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 11.68sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.69sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 11.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.81sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 11.84sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.84sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 11.90sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.92sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 11.92sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 11.92sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 11.92sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 11.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 11.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 11.94sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 11.96sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 11.97sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 11.97sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 11.97sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 11.99sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.06sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.12sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 12.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.15sINFOcomponent_container_mtLoaded robot model in 0.335963 seconds[0m + 12.15sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 12.15sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 12.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.50sINFOros2_control_node[2026-07-26 14:51:23.492] [info] Controller state will be published at 20 Hz. + 12.50sINFOros2_control_node[2026-07-26 14:51:23.492] [info] JointVelocityController 'on_configure' succeeded. + 12.55sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.58sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.58sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.58sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.58sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.59sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.61sINFOcomponent_container_mt[2026-07-26 14:51:23.607] [moveit_pro_license] [info] + 12.61sINFOcomponent_container_mt************************************************* ×6 + 12.61sINFOcomponent_container_mt* MoveIt Pro License ×3 + 12.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 12.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.66sINFOmove_group ×12 + 12.66sINFOmove_group******************************************************** ×6 + 12.66sINFOmove_group* MoveGroup using: ×3 + 12.66sINFOmove_group* - apply_planning_scene_service ×3 + 12.66sINFOmove_group* - clear_octomap_service ×3 + 12.66sINFOmove_group* - get_group_urdf ×3 + 12.66sINFOmove_group* - load_geometry_from_file ×3 + 12.66sINFOmove_group* - get_planning_scene_service ×3 + 12.66sINFOmove_group* - kinematics_service ×3 + 12.66sINFOmove_group* - save_geometry_to_file ×3 + 12.66sINFOmove_group* - GetPlanningGroups ×3 + 12.66sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.66sINFOmove_group[0m ×3 + 12.66sINFOmove_group[92mYou can start planning now![0m ×3 + 12.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 12.85sINFOros2-18process has finished cleanly [pid 9391] + 12.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 12.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 12.92sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 12.92sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 12.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 12.93sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 12.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 12.93sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 12.93sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 12.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906371 ms (missed cycles : 3).[0m + 12.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 12.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 13.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 13.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 13.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 13.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 13.31sINFOros2-14process has finished cleanly [pid 9387] + 13.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 13.35sINFOros2_control_nodeconfigure successful[0m ×9 + 13.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 13.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 13.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.51sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 13.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.68sINFOros2-8process has finished cleanly [pid 9315] + 13.94sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 13.94sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 13.94sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 13.96sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 13.96sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 13.97sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 13.97sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746668 ms (missed cycles : 4).[0m + 14.30sINFOros2-9process has finished cleanly [pid 9382] + 14.32sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 14.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 14.39sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 14.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 14.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 14.68sINFOros2_control_node[2026-07-26 14:51:25.679] [warning] No force/torque sensor configured. The VFC will ignore force references. + 14.69sINFOros2_control_node[2026-07-26 14:51:25.682] [info] Controller state will be published at 10 Hz. + 14.69sINFOros2_control_node[2026-07-26 14:51:25.683] [info] VelocityForceController 'on_configure' succeeded. + 15.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 15.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 15.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 15.04sINFOros2-15process has finished cleanly [pid 9388] + 15.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 15.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908309 ms (missed cycles : 4).[0m + 15.34sINFOros2_control_node[2026-07-26 14:51:26.337] [info] Controller state will be published at 20 Hz. + 15.34sINFOros2_control_node[2026-07-26 14:51:26.338] [info] JointVelocityController 'on_configure' succeeded. + 15.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 15.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 15.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 15.70sINFOros2-17process has finished cleanly [pid 9390] + 15.74sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 15.74sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 15.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 15.76sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.09sINFOros2waiting for service /controller_manager/load_controller to become available...[0m + 16.09sINFOros2-11process has finished cleanly [pid 9384] + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934103 ms (missed cycles : 3).[0m + 16.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 16.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.38sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.38sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.39sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.73sINFOros2-10process has finished cleanly [pid 9383] + 16.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 16.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 16.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 16.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 16.77sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 16.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 16.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 16.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 16.80sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 17.13sINFOros2-12process has finished cleanly [pid 9385] + 17.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 17.18sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 17.24sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 17.25sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708730 ms (missed cycles : 4).[0m + 17.49sINFOros2_control_node[2026-07-26 14:51:28.489] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.50sINFOros2_control_node[2026-07-26 14:51:28.491] [info] Controller state will be published at 10 Hz. + 17.50sINFOros2_control_node[2026-07-26 14:51:28.492] [info] VelocityForceController 'on_configure' succeeded. + 17.86sINFOros2-16process has finished cleanly [pid 9389] + 18.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 18.13sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_b987phlb --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_yyg1yq4e --params-file /tmp/launch_params_vge_hcsm [0m + 18.15sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 18.16sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 18.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104913 ms (missed cycles : 3).[0m + 18.46sINFOros2-13process has finished cleanly [pid 9386] + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323799 ms (missed cycles : 5).[0m + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402263 ms (missed cycles : 3).[0m + 21.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024540 ms (missed cycles : 2).[0m + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690412 ms (missed cycles : 4).[0m + 23.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077494.48148179 seconds. + 23.49sINFOmove_groupClearing octomap...[0m ×4 + 23.49sINFOmove_groupOctomap cleared.[0m ×4 + 23.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077494.49175262 seconds + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535349 ms (missed cycles : 4).[0m + 24.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077495.04289865 seconds. + 24.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077495.05302691 seconds + 24.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077495.59315515 seconds. + 24.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077495.74378276 seconds + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826243 ms (missed cycles : 2).[0m + 25.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077496.31550598 seconds. + 25.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 25.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m + 25.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 25.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m + 25.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 25.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077496.37563705 seconds + 25.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077496.91925383 seconds. + 25.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347489 ms (missed cycles : 3).[0m + 25.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 25.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 25.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 27.00sINFOobjective_server_nodePlanning for 177 path waypoints. + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025861 ms (missed cycles : 4).[0m + 27.43sINFOros2_control_nodeReceived new action goal[0m ×18 + 27.43sINFOros2_control_nodeAccepted new action goal[0m ×18 + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633408 ms (missed cycles : 3).[0m + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328578 ms (missed cycles : 2).[0m + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364049 ms (missed cycles : 2).[0m + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001403 ms (missed cycles : 3).[0m + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338880 ms (missed cycles : 2).[0m + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225263 ms (missed cycles : 5).[0m + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323802 ms (missed cycles : 3).[0m + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978677 ms (missed cycles : 3).[0m + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741513 ms (missed cycles : 5).[0m + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320768 ms (missed cycles : 2).[0m + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705953 ms (missed cycles : 3).[0m + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486142 ms (missed cycles : 3).[0m + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157104 ms (missed cycles : 2).[0m + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310133 ms (missed cycles : 3).[0m + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464271 ms (missed cycles : 3).[0m + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804446 ms (missed cycles : 5).[0m + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941635 ms (missed cycles : 3).[0m + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877514 ms (missed cycles : 2).[0m + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416692 ms (missed cycles : 3).[0m + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451310 ms (missed cycles : 3).[0m + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389156 ms (missed cycles : 5).[0m + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419883 ms (missed cycles : 2).[0m + 51.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044277 ms (missed cycles : 3).[0m + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709690 ms (missed cycles : 3).[0m + 53.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513432 ms (missed cycles : 2).[0m + 54.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059786 ms (missed cycles : 3).[0m + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224147 ms (missed cycles : 2).[0m + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931723 ms (missed cycles : 2).[0m + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072393 ms (missed cycles : 4).[0m + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190211 ms (missed cycles : 3).[0m + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984408 ms (missed cycles : 2).[0m + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736440 ms (missed cycles : 2).[0m + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090107 ms (missed cycles : 3).[0m + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025233 ms (missed cycles : 4).[0m + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842827 ms (missed cycles : 2).[0m + 64.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237091 ms (missed cycles : 4).[0m + 65.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087829 ms (missed cycles : 4).[0m + 66.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113824 ms (missed cycles : 2).[0m + 67.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249123 ms (missed cycles : 4).[0m + 69.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050321 ms (missed cycles : 5).[0m + 69.04sINFOros2_control_nodeGoal reached, success![0m ×16 + 69.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077540.08159661 seconds + 69.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077540.62174606 seconds. + 70.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024257 ms (missed cycles : 2).[0m + 70.40sINFOobjective_server_nodeFound path in 0 iterations (2.4461e-05 s). + 70.40sINFOobjective_server_nodePath shortcutter: [X____X] + 70.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 71.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021275 ms (missed cycles : 4).[0m + 72.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554183 ms (missed cycles : 3).[0m + 72.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077543.52188897 seconds + 73.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785077544.07203269 seconds. + 73.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111759 ms (missed cycles : 2).[0m + 73.39sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 74.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144487 ms (missed cycles : 4).[0m + 74.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 75.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143737 ms (missed cycles : 2).[0m + 76.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635076 ms (missed cycles : 3).[0m + 77.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094376 ms (missed cycles : 2).[0m + 78.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767855 ms (missed cycles : 2).[0m + 79.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082866 ms (missed cycles : 5).[0m + 80.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916662 ms (missed cycles : 2).[0m + 81.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092144 ms (missed cycles : 6).[0m + 81.70sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m + 82.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613070 ms (missed cycles : 2).[0m + 83.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308672 ms (missed cycles : 2).[0m + 84.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556380 ms (missed cycles : 2).[0m + 85.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111632 ms (missed cycles : 2).[0m + 86.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149524 ms (missed cycles : 2).[0m + 87.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178978 ms (missed cycles : 2).[0m + 88.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505720 ms (missed cycles : 4).[0m + 89.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.691305 ms (missed cycles : 7).[0m + 90.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834709 ms (missed cycles : 2).[0m + 91.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682262 ms (missed cycles : 4).[0m + 92.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839061 ms (missed cycles : 2).[0m + 93.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847600 ms (missed cycles : 2).[0m + 95.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385124 ms (missed cycles : 6).[0m + 96.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246686 ms (missed cycles : 2).[0m + 97.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639933 ms (missed cycles : 5).[0m + 98.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537902 ms (missed cycles : 2).[0m + 99.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060063 ms (missed cycles : 2).[0m +100.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444430 ms (missed cycles : 5).[0m +101.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336291 ms (missed cycles : 4).[0m +102.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725426 ms (missed cycles : 2).[0m +103.38sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +103.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126925 ms (missed cycles : 2).[0m +104.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741534 ms (missed cycles : 3).[0m +105.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163277 ms (missed cycles : 2).[0m +106.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788408 ms (missed cycles : 3).[0m +107.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359315 ms (missed cycles : 2).[0m +108.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137532 ms (missed cycles : 3).[0m +109.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037777 ms (missed cycles : 4).[0m +110.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417422 ms (missed cycles : 2).[0m +111.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039793 ms (missed cycles : 2).[0m +112.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049321 ms (missed cycles : 3).[0m +113.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019124 ms (missed cycles : 3).[0m +114.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.932906 ms (missed cycles : 6).[0m +115.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697434 ms (missed cycles : 3).[0m +116.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894704 ms (missed cycles : 4).[0m +117.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761774 ms (missed cycles : 2).[0m +118.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537863 ms (missed cycles : 4).[0m +119.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489693 ms (missed cycles : 3).[0m +120.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735009 ms (missed cycles : 2).[0m +122.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189038 ms (missed cycles : 2).[0m +123.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173173 ms (missed cycles : 4).[0m +124.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882135 ms (missed cycles : 2).[0m +125.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911285 ms (missed cycles : 3).[0m +126.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988707 ms (missed cycles : 2).[0m +127.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041525 ms (missed cycles : 2).[0m +128.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292815 ms (missed cycles : 2).[0m +128.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785077599.91221166 seconds +129.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785077600.46696424 seconds. +129.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120674 ms (missed cycles : 4).[0m +129.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +129.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +130.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077840 ms (missed cycles : 4).[0m +131.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305901 ms (missed cycles : 4).[0m +132.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019923 ms (missed cycles : 4).[0m +133.45sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785077604.44709301 seconds +133.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544061 ms (missed cycles : 4).[0m +134.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921360 ms (missed cycles : 2).[0m +135.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785077605.99218869 seconds. +135.30sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 +135.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.486007 ms (missed cycles : 5).[0m +136.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +136.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734173 ms (missed cycles : 5).[0m +137.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074101 ms (missed cycles : 2).[0m +138.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902640 ms (missed cycles : 4).[0m +140.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177630 ms (missed cycles : 2).[0m +141.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817084 ms (missed cycles : 4).[0m +141.71sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +142.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105256 ms (missed cycles : 3).[0m +143.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351335 ms (missed cycles : 2).[0m +144.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304929 ms (missed cycles : 2).[0m +145.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569461 ms (missed cycles : 4).[0m +146.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068521 ms (missed cycles : 4).[0m +147.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343050 ms (missed cycles : 4).[0m +148.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547481 ms (missed cycles : 3).[0m +149.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718626 ms (missed cycles : 5).[0m +150.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746676 ms (missed cycles : 2).[0m +151.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694349 ms (missed cycles : 3).[0m +152.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094205 ms (missed cycles : 4).[0m +153.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673049 ms (missed cycles : 4).[0m +154.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861797 ms (missed cycles : 2).[0m +155.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323688 ms (missed cycles : 3).[0m +156.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.579692 ms (missed cycles : 7).[0m +157.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894200 ms (missed cycles : 3).[0m +159.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185055 ms (missed cycles : 3).[0m +160.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.690480 ms (missed cycles : 7).[0m +161.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946366 ms (missed cycles : 3).[0m +162.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054167 ms (missed cycles : 2).[0m +163.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025231 ms (missed cycles : 2).[0m +164.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055616 ms (missed cycles : 6).[0m +164.82sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785077635.81232786 seconds +165.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658458 ms (missed cycles : 4).[0m +165.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785077636.35780048 seconds. +165.65sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +166.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497290 ms (missed cycles : 3).[0m +166.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +167.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529654 ms (missed cycles : 4).[0m +168.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506372 ms (missed cycles : 3).[0m +169.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857346 ms (missed cycles : 2).[0m +170.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962322 ms (missed cycles : 2).[0m +171.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859368 ms (missed cycles : 2).[0m +172.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676590 ms (missed cycles : 2).[0m +173.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717994 ms (missed cycles : 5).[0m +174.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226401 ms (missed cycles : 2).[0m +175.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207499 ms (missed cycles : 5).[0m +176.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046513 ms (missed cycles : 3).[0m +177.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463757 ms (missed cycles : 4).[0m +179.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091435 ms (missed cycles : 2).[0m +180.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065909 ms (missed cycles : 3).[0m +181.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884478 ms (missed cycles : 2).[0m +182.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484464 ms (missed cycles : 3).[0m +183.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790254 ms (missed cycles : 4).[0m +184.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398380 ms (missed cycles : 5).[0m +185.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506168 ms (missed cycles : 2).[0m +186.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251412 ms (missed cycles : 2).[0m +187.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862863 ms (missed cycles : 2).[0m +188.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534066 ms (missed cycles : 3).[0m +189.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168231 ms (missed cycles : 2).[0m +190.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960062 ms (missed cycles : 2).[0m +191.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509060 ms (missed cycles : 4).[0m +192.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774937 ms (missed cycles : 2).[0m +193.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360650 ms (missed cycles : 2).[0m +194.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979080 ms (missed cycles : 3).[0m +195.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404627 ms (missed cycles : 4).[0m +196.08sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +196.73sINFOobjective_server_nodePlanning for 47 path waypoints. +196.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530586 ms (missed cycles : 3).[0m +197.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743525 ms (missed cycles : 4).[0m +198.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517523 ms (missed cycles : 4).[0m +199.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178509 ms (missed cycles : 5).[0m +200.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807303 ms (missed cycles : 3).[0m +202.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904066 ms (missed cycles : 2).[0m +203.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872429 ms (missed cycles : 2).[0m +204.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761503 ms (missed cycles : 4).[0m +205.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207930 ms (missed cycles : 3).[0m +206.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742015 ms (missed cycles : 2).[0m +207.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062584 ms (missed cycles : 3).[0m +208.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453098 ms (missed cycles : 4).[0m +209.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715507 ms (missed cycles : 2).[0m +210.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746420 ms (missed cycles : 4).[0m +211.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498125 ms (missed cycles : 5).[0m +212.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055993 ms (missed cycles : 4).[0m +213.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803022 ms (missed cycles : 3).[0m +214.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399395 ms (missed cycles : 6).[0m +215.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513505 ms (missed cycles : 2).[0m +216.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711574 ms (missed cycles : 4).[0m +217.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848781 ms (missed cycles : 2).[0m +218.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114063 ms (missed cycles : 2).[0m +219.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067225 ms (missed cycles : 2).[0m +220.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.183287 ms (missed cycles : 5).[0m +221.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368143 ms (missed cycles : 5).[0m +222.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466994 ms (missed cycles : 2).[0m +224.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605343 ms (missed cycles : 3).[0m +225.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428913 ms (missed cycles : 4).[0m +226.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991877 ms (missed cycles : 2).[0m +227.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508326 ms (missed cycles : 2).[0m +228.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665622 ms (missed cycles : 2).[0m +229.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537357 ms (missed cycles : 4).[0m +230.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287355 ms (missed cycles : 4).[0m +231.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862122 ms (missed cycles : 4).[0m +232.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711451 ms (missed cycles : 2).[0m +233.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474759 ms (missed cycles : 2).[0m +234.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643035 ms (missed cycles : 3).[0m +235.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802008 ms (missed cycles : 4).[0m +236.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398797 ms (missed cycles : 4).[0m +237.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822459 ms (missed cycles : 5).[0m +238.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048212 ms (missed cycles : 2).[0m +239.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614989 ms (missed cycles : 5).[0m +241.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568592 ms (missed cycles : 2).[0m +242.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658890 ms (missed cycles : 4).[0m +243.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053356 ms (missed cycles : 2).[0m +244.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924009 ms (missed cycles : 2).[0m +245.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687579 ms (missed cycles : 5).[0m +246.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828547 ms (missed cycles : 4).[0m +247.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147730 ms (missed cycles : 3).[0m +248.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042460 ms (missed cycles : 5).[0m +249.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114849 ms (missed cycles : 3).[0m +250.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625650 ms (missed cycles : 3).[0m +251.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601933 ms (missed cycles : 4).[0m +252.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677101 ms (missed cycles : 4).[0m +253.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508616 ms (missed cycles : 4).[0m +254.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612329 ms (missed cycles : 3).[0m +255.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892997 ms (missed cycles : 5).[0m +255.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 +255.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +256.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1785077726.99167228 seconds +256.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785077727.02060962 seconds. +256.34sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 +256.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970898 ms (missed cycles : 2).[0m +257.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502947 ms (missed cycles : 5).[0m +258.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +258.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208010 ms (missed cycles : 4).[0m +260.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580590 ms (missed cycles : 3).[0m +261.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052071 ms (missed cycles : 3).[0m +261.71sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m +262.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737241 ms (missed cycles : 4).[0m +263.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613236 ms (missed cycles : 2).[0m +264.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140699 ms (missed cycles : 3).[0m +265.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291356 ms (missed cycles : 2).[0m +266.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644075 ms (missed cycles : 4).[0m +266.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785077737.50789380 seconds +267.05sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785077738.04980731 seconds. +267.36sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +267.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547612 ms (missed cycles : 2).[0m +268.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345154 ms (missed cycles : 2).[0m +268.58sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +269.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760998 ms (missed cycles : 4).[0m +270.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733213 ms (missed cycles : 5).[0m +271.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097602 ms (missed cycles : 3).[0m +272.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077561 ms (missed cycles : 2).[0m +273.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768774 ms (missed cycles : 4).[0m +274.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250642 ms (missed cycles : 2).[0m +275.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904860 ms (missed cycles : 3).[0m +277.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200503 ms (missed cycles : 3).[0m +278.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736010 ms (missed cycles : 2).[0m +279.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356398 ms (missed cycles : 2).[0m +280.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349920 ms (missed cycles : 4).[0m +281.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717997 ms (missed cycles : 4).[0m +282.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933374 ms (missed cycles : 2).[0m +283.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627061 ms (missed cycles : 3).[0m +284.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777347 ms (missed cycles : 3).[0m +285.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399975 ms (missed cycles : 4).[0m +286.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151322 ms (missed cycles : 3).[0m +287.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336313 ms (missed cycles : 2).[0m +288.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020157 ms (missed cycles : 3).[0m +289.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891095 ms (missed cycles : 3).[0m +290.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951582 ms (missed cycles : 5).[0m +291.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496191 ms (missed cycles : 5).[0m +293.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662166 ms (missed cycles : 2).[0m +294.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444062 ms (missed cycles : 2).[0m +295.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795664 ms (missed cycles : 2).[0m +296.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607518 ms (missed cycles : 4).[0m +297.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427365 ms (missed cycles : 4).[0m +297.41sINFOobjective_server_nodePlanning for 42 path waypoints. +298.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.690200 ms (missed cycles : 8).[0m +299.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.164095 ms (missed cycles : 6).[0m +300.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783906 ms (missed cycles : 4).[0m +301.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080444 ms (missed cycles : 4).[0m +302.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207741 ms (missed cycles : 4).[0m +303.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825755 ms (missed cycles : 2).[0m +304.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730243 ms (missed cycles : 4).[0m +305.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797309 ms (missed cycles : 5).[0m +306.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976618 ms (missed cycles : 3).[0m +307.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519512 ms (missed cycles : 3).[0m +308.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021769 ms (missed cycles : 2).[0m +309.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677554 ms (missed cycles : 3).[0m +310.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431582 ms (missed cycles : 5).[0m +311.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.547929 ms (missed cycles : 7).[0m +312.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635467 ms (missed cycles : 3).[0m +313.80sINFOobjective_server_nodePlanning for 40 path waypoints. +313.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402130 ms (missed cycles : 2).[0m +314.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067998 ms (missed cycles : 2).[0m +315.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556780 ms (missed cycles : 4).[0m +316.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.033068 ms (missed cycles : 6).[0m +318.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483927 ms (missed cycles : 4).[0m +319.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971710 ms (missed cycles : 2).[0m +320.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129962 ms (missed cycles : 2).[0m +321.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769664 ms (missed cycles : 2).[0m +321.71sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m +322.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718472 ms (missed cycles : 3).[0m +323.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549636 ms (missed cycles : 5).[0m +324.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449511 ms (missed cycles : 5).[0m +325.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009945 ms (missed cycles : 4).[0m +326.05sINFOobjective_server_nodePlanning for 29 path waypoints. +326.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145056 ms (missed cycles : 3).[0m +327.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184674 ms (missed cycles : 3).[0m +328.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273764 ms (missed cycles : 2).[0m +329.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709463 ms (missed cycles : 3).[0m +330.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689081 ms (missed cycles : 2).[0m +331.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708785 ms (missed cycles : 6).[0m +332.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666492 ms (missed cycles : 4).[0m +333.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783185 ms (missed cycles : 4).[0m +334.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838179 ms (missed cycles : 4).[0m +335.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.579160 ms (missed cycles : 6).[0m +336.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072938 ms (missed cycles : 3).[0m +337.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839204 ms (missed cycles : 2).[0m +338.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785077809.89999795 seconds +338.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553048 ms (missed cycles : 2).[0m +339.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785077810.44118857 seconds. +339.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073220 ms (missed cycles : 2).[0m +340.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145384 ms (missed cycles : 2).[0m +342.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201180 ms (missed cycles : 2).[0m +343.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492133 ms (missed cycles : 4).[0m +343.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785077814.65134454 seconds +344.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721191 ms (missed cycles : 5).[0m +344.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785077815.19986010 seconds. +345.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201027 ms (missed cycles : 4).[0m +346.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919086 ms (missed cycles : 2).[0m +347.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055805 ms (missed cycles : 5).[0m +348.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420716 ms (missed cycles : 3).[0m +349.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533706 ms (missed cycles : 2).[0m +350.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181103 ms (missed cycles : 3).[0m +351.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920522 ms (missed cycles : 2).[0m +352.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659180 ms (missed cycles : 3).[0m +353.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021265 ms (missed cycles : 3).[0m +354.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412981 ms (missed cycles : 5).[0m +355.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521403 ms (missed cycles : 4).[0m +357.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462806 ms (missed cycles : 2).[0m +358.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687800 ms (missed cycles : 3).[0m +359.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099654 ms (missed cycles : 2).[0m +360.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790780 ms (missed cycles : 5).[0m +361.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161931 ms (missed cycles : 5).[0m +362.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856734 ms (missed cycles : 5).[0m +363.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903532 ms (missed cycles : 2).[0m +364.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712046 ms (missed cycles : 5).[0m +365.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573340 ms (missed cycles : 5).[0m +366.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749817 ms (missed cycles : 3).[0m +367.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561815 ms (missed cycles : 2).[0m +368.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.114882 ms (missed cycles : 7).[0m +369.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.900683 ms (missed cycles : 7).[0m +370.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965561 ms (missed cycles : 7).[0m +371.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403449 ms (missed cycles : 2).[0m +372.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253154 ms (missed cycles : 4).[0m +373.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966106 ms (missed cycles : 2).[0m +374.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493288 ms (missed cycles : 3).[0m +375.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747066 ms (missed cycles : 5).[0m +376.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580272 ms (missed cycles : 2).[0m +377.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266931 ms (missed cycles : 5).[0m +379.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108439 ms (missed cycles : 6).[0m +380.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798624 ms (missed cycles : 4).[0m +381.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328234 ms (missed cycles : 2).[0m +381.72sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m +382.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452475 ms (missed cycles : 2).[0m +383.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082850 ms (missed cycles : 3).[0m +384.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267268 ms (missed cycles : 4).[0m +385.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913907 ms (missed cycles : 3).[0m +386.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976093 ms (missed cycles : 2).[0m +387.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.032290 ms (missed cycles : 7).[0m +388.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047723 ms (missed cycles : 3).[0m +389.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.270075 ms (missed cycles : 7).[0m +390.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451391 ms (missed cycles : 5).[0m +391.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802011 ms (missed cycles : 6).[0m +392.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207197 ms (missed cycles : 4).[0m +393.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741835 ms (missed cycles : 2).[0m +394.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877123 ms (missed cycles : 2).[0m +395.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225371 ms (missed cycles : 5).[0m +396.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030069 ms (missed cycles : 4).[0m +397.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965460 ms (missed cycles : 2).[0m +398.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263738 ms (missed cycles : 2).[0m +399.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785077870.98001194 seconds +400.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850037 ms (missed cycles : 2).[0m +400.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785077871.53254843 seconds. +400.82sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). +401.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726164 ms (missed cycles : 2).[0m +402.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150533 ms (missed cycles : 3).[0m +403.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490123 ms (missed cycles : 5).[0m +404.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477686 ms (missed cycles : 4).[0m +405.02sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). +405.04sINFOobjective_server_nodePath shortcutter: [X__________________X] +405.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 +405.10sINFOobjective_server_nodePath shortcutter: [X____________________X] +405.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +405.16sINFOobjective_server_nodePath shortcutter: [X_________________________X] +405.20sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). +405.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446388 ms (missed cycles : 5).[0m +405.30sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +405.33sINFOobjective_server_nodeFound path in 0 iterations (7.7e-07 s). +405.50sINFOobjective_server_nodeFound path in 29 iterations (0.0200127 s). +405.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] +406.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +406.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +406.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096922 ms (missed cycles : 3).[0m +406.48sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +407.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629482 ms (missed cycles : 4).[0m +408.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832891 ms (missed cycles : 4).[0m +409.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982148 ms (missed cycles : 3).[0m +410.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723498 ms (missed cycles : 3).[0m +411.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505520 ms (missed cycles : 5).[0m +412.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930091 ms (missed cycles : 2).[0m +412.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785077883.48415041 seconds +413.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785077884.06302714 seconds. +413.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785077884.42319942 seconds +413.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947148 ms (missed cycles : 5).[0m +413.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785077884.96356726 seconds. +414.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785077885.30389237 seconds +414.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244410 ms (missed cycles : 3).[0m +414.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +415.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853743 ms (missed cycles : 3).[0m +416.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743613 ms (missed cycles : 3).[0m +417.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126444 ms (missed cycles : 3).[0m +418.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976548 ms (missed cycles : 5).[0m +419.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249782 ms (missed cycles : 3).[0m +420.52sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.52sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.52sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.53sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.53sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.54sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.54sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.54sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.55sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.55sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] +420.57sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.57sERRORweb_video_auth_proxy-33process has died [pid 9432, 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']. +420.58sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.58sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.58sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.58sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.59sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.59sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] +420.60sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.60sERRORweb_bridge_auth_proxy-32process has died [pid 9431, 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']. +420.61sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.61sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.61sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.61sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.62sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.62sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +420.62sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +420.64sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +420.66sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +420.67sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +420.69sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +420.71sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +420.72sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] +420.74sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] +420.77sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] +420.79sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] +420.80sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] +420.82sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] +420.84sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] +420.87sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] +420.87sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system +420.89sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +420.90sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] +420.91sINFOweb_video_server-31process has finished cleanly [pid 9429] +420.91sERRORmove_group-19process has died [pid 9410, 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_q2jws50r --params-file /tmp/launch_params_pc_9u3xm --params-file /tmp/launch_params_lmdi2gxy --params-file /tmp/launch_params__szmdtuz --params-file /tmp/launch_params_o00cf84v --params-file /tmp/launch_params_v3ak240f']. +420.91sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9428] +420.92sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] +420.94sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +420.96sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +420.98sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +420.98sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +420.98sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +420.98sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +420.98sERRORui_teleop_bridgeTraceback (most recent call last): +420.98sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +420.98sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +420.98sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +420.98sINFOui_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 +420.98sINFOui_teleop_bridgerclpy.shutdown() +420.98sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +420.98sINFOui_teleop_bridge_shutdown(context=context) +420.98sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +420.98sINFOui_teleop_bridgecontext.shutdown() +420.98sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +420.98sINFOui_teleop_bridgeself.__context.shutdown() +420.98sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +420.98sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +420.98sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +420.98sINFOcomponent_container_mtStopping planning scene monitor[0m +420.99sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +420.99sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +420.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887248 ms (missed cycles : 2).[0m +420.99sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +420.99sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +420.99sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +420.99sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +420.99sERRORmove_groupwhat(): context cannot be slept with because it's invalid +420.99sERRORmove_groupStack trace (most recent call last) in thread 10006: +420.99sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +420.99sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0068fa1a63, in __clone +420.99sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0068f14aa3, in +420.99sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00691a6db3, in +420.99sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f00698e9ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +420.99sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00695194d0, in rclcpp::Rate::sleep() +420.99sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006946ca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +420.99sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0069431a71, in +420.99sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0069175390, in __cxa_throw +420.99sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f006915fa54, in std::terminate() +420.99sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00691750d9, in +420.99sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f006915fff4, in +420.99sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0068ea08fe, in abort +420.99sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0068ebd27d, in raise +420.99sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0068f16b2c, in pthread_kill +420.99sERRORmove_groupAborted (Signal sent by tkill() 9410 0) +420.99sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +420.99sINFOros2_control_nodeShutdown request received....[0m +420.99sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +420.99sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +420.99sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +420.99sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +420.99sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +420.99sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +420.99sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +420.99sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +420.99sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +420.99sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +421.00sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +421.00sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +421.00sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +421.00sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +421.00sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +421.00sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +421.00sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +421.00sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +421.00sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +421.00sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +421.00sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +421.00sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +421.00sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +421.00sINFOros2_control_nodeShutting down the controller manager.[0m +421.00sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +421.00sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +421.00sINFOobjective_server_node[2026-07-26 14:58:11.904] [moveit_pro_license] [info] +421.00sINFOobjective_server_node* Application has successfully terminated +421.00sERRORodom_qos_relay.pyTraceback (most recent call last): +421.00sINFOodom_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> +421.00sINFOodom_qos_relay.pymain() +421.00sINFOodom_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 +421.00sINFOodom_qos_relay.pyrclpy.spin(node) +421.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +421.00sINFOodom_qos_relay.pyexecutor.spin_once() +421.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +421.00sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +421.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +421.00sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +421.00sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +421.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +421.00sINFOodom_qos_relay.pyreturn next(self._cb_iter) +421.00sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +421.00sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +421.00sINFOodom_qos_relay.pyraise ExternalShutdownException() +421.00sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +421.00sERRORobjective_server_nodeStack trace (most recent call last): +421.00sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +421.01sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +421.01sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2a37d56a4, in _start +421.01sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff12f7c928a, in __libc_start_main +421.01sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff12f7c91d0, in +421.01sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff12f7e6bbd, in exit +421.01sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff12f7e6a75, in +421.01sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7ff12fcb58f5, in spdlog::details::registry::~registry() +421.01sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2a37d5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +421.01sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2a37dc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +421.01sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2a37db5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +421.01sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2a37d7b7b, in spdlog_ros::RosSink::~RosSink() +421.01sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2a37d5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +421.01sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff13036b454, in rclcpp::Node::~Node() +421.01sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff130326515, in +421.01sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff130369d20, in +421.01sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff130369c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +421.01sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1303265d9, in +421.01sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff13032b161, in rclcpp::CallbackGroup::~CallbackGroup() +421.01sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7ff0e7324090]) +421.01sINFOros2_control_nodeAsync messages lost 0[0m ×2 +421.01sINFOros2_control_nodepublish_async_failures_ 3[0m +421.01sINFOros2_control_nodepublish_async_failures_ 1[0m +421.02sERRORobjective_server_node_main-24process has died [pid 9422, 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_2_jq2c9m --params-file /tmp/launch_params_1d5bft59 --params-file /tmp/launch_params_owm2xmtc --params-file /tmp/launch_params_r6wkc7p7 --params-file /tmp/launch_params_fw0ns7p_ --params-file /tmp/launch_params_byevbk8d --params-file /tmp/launch_params_cn49c06f --params-file /tmp/launch_params_p67oydov --params-file /tmp/launch_params_zoehx4ev']. +421.02sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system +421.78sERRORui_teleop_bridge-28process has died [pid 9426, 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_en8xmuz3']. +421.79sINFOexecute_objective_bridge-27process has finished cleanly [pid 9425] +421.82sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9421] +421.82sINFOcomponent_container_mt-26process has finished cleanly [pid 9424] +421.84sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9413] +421.88sINFOparameter_manager_node-20process has finished cleanly [pid 9411] +421.90sINFOwaypoint_manager_node-21process has finished cleanly [pid 9412] +421.93sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9313] +421.95sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9312] +421.98sINFOstatic_transform_publisher-3process has finished cleanly [pid 9310] +422.00sINFOstatic_transform_publisher-2process has finished cleanly [pid 9309] +422.02sERRORodom_qos_relay.py-4process has died [pid 9311, 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']. +422.93sINFOcomponent_container_mt-25process has finished cleanly [pid 9423] +423.41sINFOweb_bridge-29process has finished cleanly [pid 9427] +423.41sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +423.56sINFOros2_control_node-7process has finished cleanly [pid 9314] +425.52sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +425.53sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +425.54sERRORcomponent_container_isolated-1process has died [pid 9308, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_wsy72mev --params-file /tmp/launch_params_58x3rn2s -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +432.09sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-26-14-58-20-608532-97df90809fd0-10350 ×2 +440.79sINFOstatic_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' +440.79sINFOstatic_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' +440.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +440.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +440.87sINFOcontroller_managerupdate rate is 600 Hz +440.87sINFOcontroller_managerOverruns handling is : enabled +440.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +440.87sWARNcontroller_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. +440.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +440.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +440.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +440.98sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +441.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +441.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +441.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +441.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984751 ms (missed cycles : 2). +441.05sINFOcontroller_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. +441.08sINFOros2_control_node-7process started with pid [10406] ×2 +441.08sINFOmove_group-19process started with pid [10502] ×2 +441.08sINFOparameter_manager_node-20process started with pid [10503] ×2 +441.08sINFOwaypoint_manager_node-21process started with pid [10504] ×2 +441.08sINFOmove_joint_resampler_node-22process started with pid [10505] ×2 +441.08sINFOmove_end_effector_resampler_node-23process started with pid [10510] ×2 +441.08sINFOobjective_server_node_main-24process started with pid [10511] ×2 +441.08sINFOcomponent_container_mt-25process started with pid [10512] ×2 +441.08sINFOcomponent_container_mt-26process started with pid [10513] ×2 +441.08sINFOexecute_objective_bridge-27process started with pid [10514] ×2 +441.08sINFOui_teleop_bridge-28process started with pid [10515] ×2 +441.08sINFOweb_bridge-29process started with pid [10516] ×2 +441.08sINFOtf2_web_republisher_node-30process started with pid [10520] ×2 +441.08sINFOweb_video_server-31process started with pid [10521] ×2 +441.08sINFOweb_bridge_auth_proxy-32process started with pid [10522] ×2 +441.08sINFOweb_video_auth_proxy-33process started with pid [10523] ×2 +441.09sINFOcomponent_container_isolated-1process started with pid [10400] ×2 +441.10sINFOstatic_transform_publisher-2process started with pid [10401] ×2 +441.10sINFOstatic_transform_publisher-3process started with pid [10402] ×2 +441.10sINFOodom_qos_relay.py-4process started with pid [10403] ×2 +441.10sINFOscan_to_scan_filter_chain-5process started with pid [10404] ×2 +441.10sINFOscan_to_scan_filter_chain-6process started with pid [10405] ×2 +441.10sINFOros2-8process started with pid [10407] ×2 +441.10sINFOcontroller_serverCreating controller server +441.10sINFOros2-9process started with pid [10474] ×2 +441.10sINFOros2-10process started with pid [10475] ×2 +441.10sINFOros2-11process started with pid [10476] ×2 +441.10sINFOros2-12process started with pid [10490] ×2 +441.10sINFOros2-13process started with pid [10496] ×2 +441.10sINFOros2-14process started with pid [10497] ×2 +441.10sINFOros2-15process started with pid [10498] ×2 +441.10sINFOros2-16process started with pid [10499] ×2 +441.10sINFOros2-17process started with pid [10500] ×2 +441.10sINFOros2-18process started with pid [10501] ×2 +441.14sINFOlocal_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. +441.14sINFOlocal_costmap.local_costmapCreating Costmap +441.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +441.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984751 ms (missed cycles : 2).[0m ×2 +441.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +441.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +441.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +441.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +441.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +441.23sINFOmap_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. +441.23sINFOmap_serverCreating +441.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +441.24sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +441.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +441.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +441.24sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +441.26sINFOsmoother_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. +441.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +441.29sINFOsmoother_serverCreating smoother server +441.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +441.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +441.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +441.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +441.37sINFOrobot_state_publisherRobot initialized +441.38sINFOcontroller_managerReceived robot description from topic. +441.38sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +441.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +441.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +441.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +441.43sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +441.44sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +441.45sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +441.46sINFOplanner_serverCreating +441.50sINFOglobal_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. +441.50sINFOglobal_costmap.global_costmapCreating Costmap +441.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +441.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +441.52sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +441.52sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +441.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +441.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +441.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +441.56sINFOlifecycle_manager_localizationCreating +441.59sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +441.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +441.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +441.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +441.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +441.61sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +441.61sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +441.61sINFOmap_serverConfiguring +441.62sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.389804 seconds +441.62sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +441.62sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +441.62sINFOmove_groupLoaded robot model in 0.389804 seconds[0m ×2 +441.63sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +441.70sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +441.70sINFOamclConfiguring +441.70sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +441.70sINFOmap_serverActivating +441.70sINFOmap_serverCreating bond (map_server) to lifecycle manager. +441.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +441.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +441.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +441.79sWARNlaser_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. +441.79sWARNlaser_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. +441.81sINFObt_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. +441.81sINFOlifecycle_manager_localizationServer map_server connected with bond. +441.81sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +441.81sINFOamclActivating +441.81sINFOamclSubscribed to initial_pose_topic: /initialpose +441.81sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +441.82sINFOamclSubscribed to map_topic: /map +441.82sINFOamclSubscribed to scan_topic: /scan_merged +441.82sINFOamclCreated reinitialize_global_localization service +441.82sINFOamclCreated request_nomotion_update service +441.83sINFOamclA new map was received +441.83sINFOamclInitializing particle filter instance +441.86sINFObt_navigatorCreating +441.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +441.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +441.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +441.94sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +441.94sINFOwaypoint_followerCreating +441.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +441.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +441.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +442.01sINFOvelocity_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. +442.04sINFOlifecycle_manager_navigationCreating +442.05sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +442.07sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +442.07sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +442.08sINFOcontroller_serverConfiguring controller interface +442.08sINFOcontroller_servergetting progress checker plugins.. +442.08sINFOcontroller_servergetting goal checker plugins.. +442.08sINFOcontroller_serverController frequency set to 20.0000Hz +442.08sINFOlocal_costmap.local_costmapConfiguring +442.09sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +442.10sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +442.11sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +442.12sWARNmove_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. +442.12sWARNmove_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. +442.12sWARNmove_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. +442.12sWARNmove_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. +442.12sWARNmove_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. +442.12sWARNmove_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. +442.12sWARNmove_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. +442.12sWARNmove_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. +442.13sWARNmove_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. +442.13sWARNmove_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. +442.15sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +442.15sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +442.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +442.20sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +442.20sINFOcontroller_serverController Server has progress_checker progress checkers available. +442.21sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +442.21sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +442.22sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +442.24sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +442.25sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +442.25sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +442.26sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +442.26sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +442.27sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +442.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +442.27sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +442.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +442.28sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +442.28sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +442.29sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +442.30sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +442.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +442.31sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +442.31sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +442.31sINFOcontroller_serverOptimizer reset +442.33sINFOcontroller_serverController Server has FollowPath controllers available. +442.36sINFOamclParticle filter initialization completed +442.36sINFOamclInitializing particles from estimated pose and covariance +442.36sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +442.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +442.36sINFOsmoother_serverConfiguring smoother server +442.37sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +442.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648323 ms (missed cycles : 4). +442.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648323 ms (missed cycles : 4).[0m ×2 +442.39sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +442.41sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +442.41sINFOplanner_serverConfiguring +442.41sINFOglobal_costmap.global_costmapConfiguring +442.41sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +442.42sINFOwaypoint_manager_nodeLoaded robot model in 0.242601 seconds[0m ×2 +442.42sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +442.42sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +442.42sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +442.42sINFOlifecycle_manager_localizationServer amcl connected with bond. +442.42sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +442.42sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +442.42sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +442.45sINFOmove_group[2026-07-26 14:58:33.443] [moveit_pro_license] [info] ×2 +442.45sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +442.45sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +442.46sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +442.46sINFOamclThe bond connection to the lifecycle manager is now fully formed +442.49sFATALplanner_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 +442.49sINFOplanner_serverCleaning up +442.49sINFOglobal_costmap.global_costmapCleaning up +442.50sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +442.66sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +442.88sWARNwaypoint_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. +442.88sWARNwaypoint_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. +442.88sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.89sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_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. +442.90sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +442.92sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +442.92sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +442.97sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +442.97sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +442.97sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +442.97sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +442.97sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +442.98sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +442.98sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +442.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +442.98sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +442.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +442.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +443.18sINFOwaypoint_manager_node[2026-07-26 14:58:34.177] [moveit_pro_license] [info] ×2 +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +443.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +443.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +443.51sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +443.59sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +443.60sINFOcontroller_managerActivating component 'ur_mujoco_control'. +443.60sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +443.60sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +443.63sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +443.63sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +443.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +443.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +443.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +443.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +443.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +443.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +443.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +443.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +443.73sINFOforce_torque_sensor_broadcasterconfigure successful +443.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +443.74sINFOcontroller_managerSuccessfully switched controllers! ×8 +443.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +443.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863424 ms (missed cycles : 2). +443.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863424 ms (missed cycles : 2).[0m ×2 +443.95sINFOobjective_server_node[2026-07-26 14:58:34.945] [moveit_pro_license] [info] ×2 +443.96sINFOcomponent_container_mtLoaded robot model in 0.27325 seconds[0m ×2 +444.02sINFOobjective_server_nodeLoaded robot model in 0.0242999 seconds[0m ×2 +444.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +444.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +444.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +444.05sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +444.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +444.08sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +444.09sINFOros2-8process has finished cleanly [pid 10407] ×2 +444.10sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +444.11sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +444.11sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +444.11sINFOstreaming_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) +444.11sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +444.11sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +444.11sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +444.12sINFOplatform_velocity_controller_nav2configure successful +444.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +444.26sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.26sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.27sWARNplanning_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. +444.28sINFOstreaming_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) +444.30sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +444.30sWARNobjective_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. +444.30sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.31sWARNobjective_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. +444.42sINFOmove_groupMoveGroup debug mode is ON +444.45sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +444.45sINFOcomponent_container_mt[2026-07-26 14:58:35.447] [moveit_pro_license] [info] ×2 +444.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +444.54sINFOcontroller_managerLoading controller 'velocity_force_controller' +444.57sINFOmove_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
********************************************************
+444.59sINFOros2-13process has finished cleanly [pid 10496] ×2 +444.65sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +444.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +444.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +444.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +444.84sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785077914.716 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +444.95sINFOros2_control_node[2026-07-26 14:58:35.948] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +444.96sINFOros2_control_node[2026-07-26 14:58:35.951] [info] Controller state will be published at 10 Hz. ×2 +444.96sINFOros2_control_node[2026-07-26 14:58:35.952] [info] VelocityForceController 'on_configure' succeeded. ×2 +444.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820359 ms (missed cycles : 3). +444.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820359 ms (missed cycles : 3).[0m ×2 +445.27sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +445.27sINFOcontroller_managerLoading controller 'platform_velocity_controller' +445.28sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +445.28sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +445.32sINFOros2-15process has finished cleanly [pid 10498] ×2 +445.33sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +445.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +445.34sINFOplatform_velocity_controllerconfigure successful +445.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +445.35sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +445.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +445.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' +445.68sINFOros2-11process has finished cleanly [pid 10476] ×2 +445.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +445.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +445.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +445.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +445.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090408 ms (missed cycles : 2). +445.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090408 ms (missed cycles : 2).[0m ×2 +446.01sINFOros2_control_node[2026-07-26 14:58:37.005] [info] Controller state will be published at 20 Hz. ×2 +446.01sINFOros2_control_node[2026-07-26 14:58:37.006] [info] JointVelocityController 'on_configure' succeeded. ×2 +446.34sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +446.35sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +446.35sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +446.35sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +446.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +446.35sINFOros2-17process has finished cleanly [pid 10500] ×2 +446.38sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +446.38sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +446.38sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +446.39sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +446.72sINFOros2-9process has finished cleanly [pid 10474] ×2 +446.73sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +446.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +446.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +446.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +446.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +447.00sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +447.01sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +447.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694539 ms (missed cycles : 3). +447.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694539 ms (missed cycles : 3).[0m ×2 +447.42sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785077917.316 for reason 'discarding message because the queue is full' +447.49sINFOros2_control_node[2026-07-26 14:58:38.489] [info] Controller state will be published at 20 Hz. ×2 +447.50sINFOros2_control_node[2026-07-26 14:58:38.490] [info] JointVelocityController 'on_configure' succeeded. ×2 +447.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +447.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +447.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +447.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +447.84sINFOros2-18process has finished cleanly [pid 10501] ×2 +447.91sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +447.91sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +447.91sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +447.91sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +447.92sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +447.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +447.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +448.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875586 ms (missed cycles : 3). +448.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875586 ms (missed cycles : 3).[0m ×2 +448.30sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +448.30sINFOcontroller_managerLoading controller 'vacuum_gripper' +448.30sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +448.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +448.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +448.33sINFOros2-14process has finished cleanly [pid 10497] ×2 +448.35sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +448.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +448.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +448.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +448.37sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +448.70sINFOros2-12process has finished cleanly [pid 10490] ×2 +448.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +448.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +448.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +448.73sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +448.73sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +448.75sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +448.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +448.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +448.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +448.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +448.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +448.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +448.92sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 3.182ms +449.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933812 ms (missed cycles : 3). +449.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933812 ms (missed cycles : 3).[0m ×2 +449.26sINFOros2-10process has finished cleanly [pid 10475] ×2 +449.29sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +449.30sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +449.30sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +449.30sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc +449.30sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z8kg20zy --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_zqf0hx_t --params-file /tmp/launch_params_n12ps4yc [0m ×2 +449.32sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +449.32sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +449.58sINFOros2_control_node[2026-07-26 14:58:40.572] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +449.58sINFOros2_control_node[2026-07-26 14:58:40.574] [info] Controller state will be published at 10 Hz. ×2 +449.58sINFOros2_control_node[2026-07-26 14:58:40.575] [info] VelocityForceController 'on_configure' succeeded. ×2 +449.91sINFOros2-16process has finished cleanly [pid 10499] ×2 +450.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860550 ms (missed cycles : 3). +450.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860550 ms (missed cycles : 3).[0m ×2 +451.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148699 ms (missed cycles : 2). +451.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148699 ms (missed cycles : 2).[0m ×2 +452.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). +452.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 +453.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). +453.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 +453.64sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +454.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). +454.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 +454.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 +454.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +454.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +454.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 +455.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 +455.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 +455.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). +455.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 +455.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 +456.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 +456.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 +456.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). +456.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 +456.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] +456.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +456.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +456.65sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] +456.65sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +456.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +456.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] +456.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +456.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] +456.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +456.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 +457.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 +457.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +457.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +457.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +457.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). +457.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.9s | 3 errors · 228 warnings · 205 info |
+ 0.00sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 3.764ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834410 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834410 ms (missed cycles : 2).[0m ×2 + 0.52sINFOamclParticle filter update iteration stats: 3076 particles 723 points - 3.075ms + 1.00sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 2.235ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025018 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025018 ms (missed cycles : 5).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.723ms + 2.01sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.634ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724181 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724181 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785078131.90479946 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736208 ms (missed cycles : 5). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736208 ms (missed cycles : 5).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.632ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.807ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.871ms + 3.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785078132.44964051 seconds. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.738ms + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.011ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241410 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241410 ms (missed cycles : 2).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.347ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.18sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.18sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312253 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312253 ms (missed cycles : 5).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.573ms + 6.19sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 4.422ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931898 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931898 ms (missed cycles : 3).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847322 ms (missed cycles : 6). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847322 ms (missed cycles : 6).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 2.613ms + 8.30sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 2.280ms + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759241 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759241 ms (missed cycles : 2).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 9.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms ×3 + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485247 ms (missed cycles : 5). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485247 ms (missed cycles : 5).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838422 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838422 ms (missed cycles : 2).[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995294 ms (missed cycles : 5). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995294 ms (missed cycles : 5).[0m ×2 + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.609956 ms (missed cycles : 7). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.609956 ms (missed cycles : 7).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.696ms ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321649 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321649 ms (missed cycles : 3).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.713ms ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540439 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540439 ms (missed cycles : 2).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969512 ms (missed cycles : 6). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.969512 ms (missed cycles : 6).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.636ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959527 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959527 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986685 ms (missed cycles : 4). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986685 ms (missed cycles : 4).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms ×3 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795564 ms (missed cycles : 4). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795564 ms (missed cycles : 4).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543008 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543008 ms (missed cycles : 4).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313104 ms (missed cycles : 2). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313104 ms (missed cycles : 2).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393438 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393438 ms (missed cycles : 2).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762932 ms (missed cycles : 2). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762932 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296394 ms (missed cycles : 4). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296394 ms (missed cycles : 4).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707876 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707876 ms (missed cycles : 2).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479463 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479463 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.628ms + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482138 ms (missed cycles : 3). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482138 ms (missed cycles : 3).[0m ×2 + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757037 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757037 ms (missed cycles : 2).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013603 ms (missed cycles : 2). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013603 ms (missed cycles : 2).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038522 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038522 ms (missed cycles : 2).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531409 ms (missed cycles : 2). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531409 ms (missed cycles : 2).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 32.52sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.52sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358857 ms (missed cycles : 5). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358857 ms (missed cycles : 5).[0m ×2 + 32.66sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.34sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141372 ms (missed cycles : 6). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141372 ms (missed cycles : 6).[0m ×2 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826662 ms (missed cycles : 2). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826662 ms (missed cycles : 2).[0m ×2 + 35.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.680ms ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302801 ms (missed cycles : 5). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302801 ms (missed cycles : 5).[0m ×2 + 36.12sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923447 ms (missed cycles : 2). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923447 ms (missed cycles : 2).[0m ×2 + 37.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.642ms + 37.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.718ms ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2).[0m ×2 + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.599ms + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700318 ms (missed cycles : 6). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700318 ms (missed cycles : 6).[0m ×2 + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809776 ms (missed cycles : 2). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809776 ms (missed cycles : 2).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015172 ms (missed cycles : 2). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015172 ms (missed cycles : 2).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965289 ms (missed cycles : 3). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965289 ms (missed cycles : 3).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178255 ms (missed cycles : 5). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178255 ms (missed cycles : 5).[0m ×2 + 43.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.665ms + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633811 ms (missed cycles : 4). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633811 ms (missed cycles : 4).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181000 ms (missed cycles : 4). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181000 ms (missed cycles : 4).[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092707 ms (missed cycles : 2). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092707 ms (missed cycles : 2).[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms ×2 + 47.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.699ms + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326906 ms (missed cycles : 5). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326906 ms (missed cycles : 5).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.698ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212672 ms (missed cycles : 2). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212672 ms (missed cycles : 2).[0m ×2 + 49.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.463008 ms (missed cycles : 6). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.463008 ms (missed cycles : 6).[0m ×2 + 49.59sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280376 ms (missed cycles : 5). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280376 ms (missed cycles : 5).[0m ×2 + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005757 ms (missed cycles : 2). + 51.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005757 ms (missed cycles : 2).[0m ×2 + 52.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636709 ms (missed cycles : 4). + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636709 ms (missed cycles : 4).[0m ×2 + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701045 ms (missed cycles : 2). + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701045 ms (missed cycles : 2).[0m ×2 + 53.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 54.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758886 ms (missed cycles : 2). + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758886 ms (missed cycles : 2).[0m ×2 + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367982 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367982 ms (missed cycles : 2).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.670ms + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.658ms + 56.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710720 ms (missed cycles : 2). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710720 ms (missed cycles : 2).[0m ×2 + 57.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307602 ms (missed cycles : 2). + 57.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307602 ms (missed cycles : 2).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 58.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375886 ms (missed cycles : 3). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375886 ms (missed cycles : 3).[0m ×2 + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586281 ms (missed cycles : 3). + 59.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586281 ms (missed cycles : 3).[0m ×2 + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.649ms + 60.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 60.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985426 ms (missed cycles : 3). + 60.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985426 ms (missed cycles : 3).[0m ×2 + 61.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270004 ms (missed cycles : 2). + 61.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270004 ms (missed cycles : 2).[0m ×2 + 62.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 62.44sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 62.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762444 ms (missed cycles : 2). + 62.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762444 ms (missed cycles : 2).[0m ×2 + 63.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621573 ms (missed cycles : 6). + 63.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621573 ms (missed cycles : 6).[0m ×2 + 64.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720056 ms (missed cycles : 4). + 64.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720056 ms (missed cycles : 4).[0m ×2 + 65.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641794 ms (missed cycles : 4). + 65.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641794 ms (missed cycles : 4).[0m ×2 + 66.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 66.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 67.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213309 ms (missed cycles : 4). + 67.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213309 ms (missed cycles : 4).[0m ×2 + 67.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 68.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402051 ms (missed cycles : 4). + 68.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402051 ms (missed cycles : 4).[0m ×2 + 69.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 69.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041283 ms (missed cycles : 3). + 69.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041283 ms (missed cycles : 3).[0m ×2 + 69.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 70.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045359 ms (missed cycles : 2). + 70.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045359 ms (missed cycles : 2).[0m ×2 + 70.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 71.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213616 ms (missed cycles : 4). + 71.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213616 ms (missed cycles : 4).[0m ×2 + 72.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560545 ms (missed cycles : 4). + 72.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560545 ms (missed cycles : 4).[0m ×2 + 73.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692734 ms (missed cycles : 5). + 73.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692734 ms (missed cycles : 5).[0m ×2 + 73.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 74.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838982 ms (missed cycles : 2). + 74.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838982 ms (missed cycles : 2).[0m ×2 + 74.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 75.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785078203.80983615 seconds ×3 + 75.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.007ms + 75.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 75.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940214 ms (missed cycles : 6). + 75.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940214 ms (missed cycles : 6).[0m ×2 + 75.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 75.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785078204.35868549 seconds. ×3 + 76.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.427ms + 76.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 76.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 77.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 77.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 77.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 78.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 78.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.7s | 180 warnings · 167 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077971.18084097 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077971.73020482 seconds. ×3 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.0001e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.38sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.38sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.39sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.39sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077974.65033436 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077127 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077127 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785077975.19190502 seconds. ×3 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864077 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864077 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658079 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658079 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479724 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479724 ms (missed cycles : 3).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.705ms + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560316 ms (missed cycles : 4). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560316 ms (missed cycles : 4).[0m ×2 + 8.27sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.836ms + 8.76sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.227ms + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588248 ms (missed cycles : 4). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588248 ms (missed cycles : 4).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921364 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921364 ms (missed cycles : 4).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms ×2 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964802 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964802 ms (missed cycles : 2).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603429 ms (missed cycles : 4). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603429 ms (missed cycles : 4).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025037 ms (missed cycles : 3). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025037 ms (missed cycles : 3).[0m ×2 + 13.48sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269494 ms (missed cycles : 4). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269494 ms (missed cycles : 4).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967823 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967823 ms (missed cycles : 2).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076600 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076600 ms (missed cycles : 3).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190293 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190293 ms (missed cycles : 2).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367895 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367895 ms (missed cycles : 2).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.698ms + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028123 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028123 ms (missed cycles : 2).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863427 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863427 ms (missed cycles : 2).[0m ×2 + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms ×2 + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605826 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605826 ms (missed cycles : 3).[0m ×2 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 22.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707299 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707299 ms (missed cycles : 2).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567337 ms (missed cycles : 4). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567337 ms (missed cycles : 4).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105801 ms (missed cycles : 2). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105801 ms (missed cycles : 2).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328250 ms (missed cycles : 4). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328250 ms (missed cycles : 4).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314644 ms (missed cycles : 5). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314644 ms (missed cycles : 5).[0m ×2 + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050354 ms (missed cycles : 2). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050354 ms (missed cycles : 2).[0m ×2 + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.648ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255660 ms (missed cycles : 5). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255660 ms (missed cycles : 5).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544475 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544475 ms (missed cycles : 2).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.651ms + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949688 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949688 ms (missed cycles : 3).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965461 ms (missed cycles : 4). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965461 ms (missed cycles : 4).[0m ×2 + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621812 ms (missed cycles : 3). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621812 ms (missed cycles : 3).[0m ×2 + 33.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898356 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898356 ms (missed cycles : 3).[0m ×2 + 34.36sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684995 ms (missed cycles : 4). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684995 ms (missed cycles : 4).[0m ×2 + 36.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211400 ms (missed cycles : 4). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211400 ms (missed cycles : 4).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.574360 ms (missed cycles : 6). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.574360 ms (missed cycles : 6).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367141 ms (missed cycles : 4). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367141 ms (missed cycles : 4).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.795421 ms (missed cycles : 6). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.795421 ms (missed cycles : 6).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892588 ms (missed cycles : 3). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892588 ms (missed cycles : 3).[0m ×2 + 41.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741132 ms (missed cycles : 2). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741132 ms (missed cycles : 2).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266443 ms (missed cycles : 5). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266443 ms (missed cycles : 5).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012227 ms (missed cycles : 3). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012227 ms (missed cycles : 3).[0m ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240736 ms (missed cycles : 2). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240736 ms (missed cycles : 2).[0m ×2 + 45.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744032 ms (missed cycles : 2). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744032 ms (missed cycles : 2).[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455370 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455370 ms (missed cycles : 2).[0m ×2 + 47.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780527 ms (missed cycles : 2). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780527 ms (missed cycles : 2).[0m ×2 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704503 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704503 ms (missed cycles : 2).[0m ×2 + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080359 ms (missed cycles : 2). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080359 ms (missed cycles : 2).[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043395 ms (missed cycles : 2). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043395 ms (missed cycles : 2).[0m ×2 + 51.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725890 ms (missed cycles : 2). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725890 ms (missed cycles : 2).[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992854 ms (missed cycles : 3). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992854 ms (missed cycles : 3).[0m ×2 + 54.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106032 ms (missed cycles : 2). + 54.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106032 ms (missed cycles : 2).[0m ×2 + 55.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 55.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787876 ms (missed cycles : 3). + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787876 ms (missed cycles : 3).[0m ×2 + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976812 ms (missed cycles : 4). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976812 ms (missed cycles : 4).[0m ×2 + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 58.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 58.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 59.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 60.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 60.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 60.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 60.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 60.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 60.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 60.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 61.23sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 61.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 61.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 61.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 62.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 62.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 62.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 63.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.3s | 180 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.71sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041711 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041711 ms (missed cycles : 4).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.280ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217621 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217621 ms (missed cycles : 3).[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.643ms + 8.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.570ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046801 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046801 ms (missed cycles : 2).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.947ms + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.152ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031053 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031053 ms (missed cycles : 3).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.117ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.621ms + 11.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.947ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350209 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350209 ms (missed cycles : 2).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.998ms + 12.46sINFOamclParticle filter update iteration stats: 4621 particles 723 points - 5.546ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552212 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552212 ms (missed cycles : 2).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 4.741ms + 13.46sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 2.752ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670208 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670208 ms (missed cycles : 4).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.081ms + 14.45sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.374ms + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231517 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231517 ms (missed cycles : 2).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 15.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757578 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757578 ms (missed cycles : 2).[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 16.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026913 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026913 ms (missed cycles : 3).[0m ×2 + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657805 ms (missed cycles : 3). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657805 ms (missed cycles : 3).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714838 ms (missed cycles : 3). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714838 ms (missed cycles : 3).[0m ×2 + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 19.49sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337110 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337110 ms (missed cycles : 3).[0m ×2 + 20.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932335 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932335 ms (missed cycles : 2).[0m ×2 + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656362 ms (missed cycles : 4). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656362 ms (missed cycles : 4).[0m ×2 + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184720 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184720 ms (missed cycles : 2).[0m ×2 + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.718ms + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577205 ms (missed cycles : 3). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577205 ms (missed cycles : 3).[0m ×2 + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115609 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115609 ms (missed cycles : 2).[0m ×2 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278524 ms (missed cycles : 5). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278524 ms (missed cycles : 5).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922613 ms (missed cycles : 2). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922613 ms (missed cycles : 2).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341446 ms (missed cycles : 3). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341446 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342184 ms (missed cycles : 5). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342184 ms (missed cycles : 5).[0m ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344939 ms (missed cycles : 2). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344939 ms (missed cycles : 2).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620224 ms (missed cycles : 3). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620224 ms (missed cycles : 3).[0m ×2 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671472 ms (missed cycles : 7). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671472 ms (missed cycles : 7).[0m ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459737 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459737 ms (missed cycles : 2).[0m ×2 + 34.11sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872258 ms (missed cycles : 2). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872258 ms (missed cycles : 2).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056130 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056130 ms (missed cycles : 2).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020624 ms (missed cycles : 3). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020624 ms (missed cycles : 3).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521383 ms (missed cycles : 4). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521383 ms (missed cycles : 4).[0m ×2 + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088532 ms (missed cycles : 3). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088532 ms (missed cycles : 3).[0m ×2 + 39.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077838 ms (missed cycles : 3). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077838 ms (missed cycles : 3).[0m ×2 + 41.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759629 ms (missed cycles : 2). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759629 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034333 ms (missed cycles : 6). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034333 ms (missed cycles : 6).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182804 ms (missed cycles : 4). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182804 ms (missed cycles : 4).[0m ×2 + 44.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968366 ms (missed cycles : 3). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968366 ms (missed cycles : 3).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458871 ms (missed cycles : 4). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458871 ms (missed cycles : 4).[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821678 ms (missed cycles : 3). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821678 ms (missed cycles : 3).[0m ×2 + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555910 ms (missed cycles : 2). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555910 ms (missed cycles : 2).[0m ×2 + 47.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800036 ms (missed cycles : 3). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800036 ms (missed cycles : 3).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655784 ms (missed cycles : 2). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655784 ms (missed cycles : 2).[0m ×2 + 50.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847375 ms (missed cycles : 2). + 50.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847375 ms (missed cycles : 2).[0m ×2 + 51.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 51.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871718 ms (missed cycles : 3). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871718 ms (missed cycles : 3).[0m ×2 + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837056 ms (missed cycles : 5). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837056 ms (missed cycles : 5).[0m ×2 + 54.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419702 ms (missed cycles : 3). + 54.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419702 ms (missed cycles : 3).[0m ×2 + 54.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 55.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000831 ms (missed cycles : 2). + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000831 ms (missed cycles : 2).[0m ×2 + 56.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975230 ms (missed cycles : 3). + 56.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975230 ms (missed cycles : 3).[0m ×2 + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.435725 ms (missed cycles : 8). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.435725 ms (missed cycles : 8).[0m ×2 + 58.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014647 ms (missed cycles : 6). + 58.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014647 ms (missed cycles : 6).[0m ×2 + 58.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.690ms + 59.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018032 ms (missed cycles : 2). + 59.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018032 ms (missed cycles : 2).[0m ×2 + 59.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785078264.87598038 seconds ×3 + 59.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.878ms + 60.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.583ms + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518372 ms (missed cycles : 3). + 60.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518372 ms (missed cycles : 3).[0m ×2 + 60.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785078265.43323302 seconds. ×3 + 60.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.138ms + 60.54sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 60.55sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368369 ms (missed cycles : 2). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368369 ms (missed cycles : 2).[0m ×2 + 62.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087528 ms (missed cycles : 4). + 62.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087528 ms (missed cycles : 4).[0m ×2 + 62.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.865ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.0s | 174 warnings · 165 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785078067.95480752 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.452ms + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.401ms + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785078068.50122762 seconds. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.313ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 5.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.06sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.06sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.386ms + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994889 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994889 ms (missed cycles : 2).[0m ×2 + 7.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.661ms + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690023 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690023 ms (missed cycles : 2).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.939ms + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.274ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185351 ms (missed cycles : 5). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185351 ms (missed cycles : 5).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.840ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.522ms + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420570 ms (missed cycles : 3). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420570 ms (missed cycles : 3).[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.305ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.213ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852412 ms (missed cycles : 4). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852412 ms (missed cycles : 4).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 5.071ms + 11.70sINFOamclParticle filter update iteration stats: 4290 particles 723 points - 4.214ms + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009543 ms (missed cycles : 4). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009543 ms (missed cycles : 4).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 4156 particles 723 points - 4.330ms + 12.71sINFOamclParticle filter update iteration stats: 4021 particles 723 points - 3.984ms + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644408 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644408 ms (missed cycles : 4).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 3.766ms + 13.71sINFOamclParticle filter update iteration stats: 4011 particles 723 points - 3.760ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091311 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091311 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 4259 particles 723 points - 3.971ms + 14.71sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 4.803ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968010 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968010 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 4.258ms + 15.70sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 5.169ms + 16.20sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 4.061ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918528 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918528 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 3.846ms + 17.20sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 3.924ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401802 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401802 ms (missed cycles : 2).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 3523 particles 723 points - 3.598ms + 18.20sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 3.323ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718239 ms (missed cycles : 5). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718239 ms (missed cycles : 5).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.389ms + 19.22sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 1.944ms + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046448 ms (missed cycles : 4). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046448 ms (missed cycles : 4).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 1.913ms + 20.20sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.784ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350431 ms (missed cycles : 3). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350431 ms (missed cycles : 3).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.246ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485736 ms (missed cycles : 4). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485736 ms (missed cycles : 4).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465349 ms (missed cycles : 2). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465349 ms (missed cycles : 2).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954479 ms (missed cycles : 5). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954479 ms (missed cycles : 5).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464816 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464816 ms (missed cycles : 2).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686131 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686131 ms (missed cycles : 2).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202644 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202644 ms (missed cycles : 2).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829877 ms (missed cycles : 3). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829877 ms (missed cycles : 3).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556791 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556791 ms (missed cycles : 2).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345774 ms (missed cycles : 2). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345774 ms (missed cycles : 2).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564113 ms (missed cycles : 4). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564113 ms (missed cycles : 4).[0m ×2 + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034075 ms (missed cycles : 3). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034075 ms (missed cycles : 3).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074326 ms (missed cycles : 5). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074326 ms (missed cycles : 5).[0m ×2 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695610 ms (missed cycles : 2). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695610 ms (missed cycles : 2).[0m ×2 + 34.52sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669909 ms (missed cycles : 3). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669909 ms (missed cycles : 3).[0m ×2 + 35.16sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217871 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217871 ms (missed cycles : 2).[0m ×2 + 36.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540499 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540499 ms (missed cycles : 3).[0m ×2 + 37.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221266 ms (missed cycles : 2). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221266 ms (missed cycles : 2).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 39.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692978 ms (missed cycles : 2). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692978 ms (missed cycles : 2).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 39.92sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448628 ms (missed cycles : 2). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448628 ms (missed cycles : 2).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800125 ms (missed cycles : 5). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800125 ms (missed cycles : 5).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101715 ms (missed cycles : 3). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101715 ms (missed cycles : 3).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.539025 ms (missed cycles : 7). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.539025 ms (missed cycles : 7).[0m ×2 + 44.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521602 ms (missed cycles : 4). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521602 ms (missed cycles : 4).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266292 ms (missed cycles : 2). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266292 ms (missed cycles : 2).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726055 ms (missed cycles : 4). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726055 ms (missed cycles : 4).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066053 ms (missed cycles : 4). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066053 ms (missed cycles : 4).[0m ×2 + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281529 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281529 ms (missed cycles : 2).[0m ×2 + 48.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.652ms + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766975 ms (missed cycles : 2). + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766975 ms (missed cycles : 2).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195318 ms (missed cycles : 2). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195318 ms (missed cycles : 2).[0m ×2 + 50.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954585 ms (missed cycles : 3). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954585 ms (missed cycles : 3).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.651ms + 52.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789353 ms (missed cycles : 2). + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789353 ms (missed cycles : 2).[0m ×2 + 52.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805595 ms (missed cycles : 3). + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805595 ms (missed cycles : 3).[0m ×2 + 54.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.642ms + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537755 ms (missed cycles : 2). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537755 ms (missed cycles : 2).[0m ×2 + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.980372 ms (missed cycles : 6). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.980372 ms (missed cycles : 6).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 56.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785078120.99136424 seconds ×3 + 56.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.061ms + 56.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 56.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180210 ms (missed cycles : 2). + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180210 ms (missed cycles : 2).[0m ×2 + 56.81sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785078121.53837633 seconds. ×3 + 56.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.703ms + 57.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.605ms + 57.12sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 57.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.875ms + 57.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459743 ms (missed cycles : 3). + 57.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459743 ms (missed cycles : 3).[0m ×2 + 57.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.600ms + 58.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.156ms + 58.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 58.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102113 ms (missed cycles : 2). + 58.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102113 ms (missed cycles : 2).[0m ×2 + 58.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 59.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.269ms + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917250 ms (missed cycles : 3). + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917250 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708249 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708249 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246126 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246126 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186158 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186158 ms (missed cycles : 4).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158285 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158285 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056381 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056381 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150292 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150292 ms (missed cycles : 4).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801187 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801187 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112674 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112674 ms (missed cycles : 2).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013918 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013918 ms (missed cycles : 3).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325676 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325676 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884242 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884242 ms (missed cycles : 3).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793964 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793964 ms (missed cycles : 2).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742141 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742141 ms (missed cycles : 3).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 2.352ms + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681756 ms (missed cycles : 3). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681756 ms (missed cycles : 3).[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133486 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133486 ms (missed cycles : 3).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356128 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356128 ms (missed cycles : 2).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186468 ms (missed cycles : 5). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186468 ms (missed cycles : 5).[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847728 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847728 ms (missed cycles : 2).[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409144 ms (missed cycles : 4). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409144 ms (missed cycles : 4).[0m ×2 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282803 ms (missed cycles : 3). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282803 ms (missed cycles : 3).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217236 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217236 ms (missed cycles : 2).[0m ×2 + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516470 ms (missed cycles : 3). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516470 ms (missed cycles : 3).[0m ×2 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823075 ms (missed cycles : 4). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823075 ms (missed cycles : 4).[0m ×2 + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306610 ms (missed cycles : 4). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306610 ms (missed cycles : 4).[0m ×2 + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088330 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088330 ms (missed cycles : 3).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572521 ms (missed cycles : 3). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572521 ms (missed cycles : 3).[0m ×2 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.634274 ms (missed cycles : 5). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.634274 ms (missed cycles : 5).[0m ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342489 ms (missed cycles : 5). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342489 ms (missed cycles : 5).[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150266 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150266 ms (missed cycles : 4).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534660 ms (missed cycles : 5). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534660 ms (missed cycles : 5).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599642 ms (missed cycles : 3). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599642 ms (missed cycles : 3).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744834 ms (missed cycles : 3). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744834 ms (missed cycles : 3).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737155 ms (missed cycles : 2). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737155 ms (missed cycles : 2).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128865 ms (missed cycles : 3). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128865 ms (missed cycles : 3).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775069 ms (missed cycles : 3). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775069 ms (missed cycles : 3).[0m ×2 + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2).[0m ×2 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5).[0m ×2 + 46.84sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077971.18084097 seconds ×3 + 47.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077971.73020482 seconds. ×3 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3).[0m ×2 + 48.19sINFOobjective_server_nodeFound path in 0 iterations (2.0001e-05 s). ×2 + 48.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3).[0m ×2 + 49.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5).[0m ×2 + 50.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077974.65033436 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.6s | 105 warnings · 121 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317255 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317255 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.475ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981592 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981592 ms (missed cycles : 3).[0m ×2 + 1.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785078036.37952113 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566047 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566047 ms (missed cycles : 2).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785078037.93467116 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689285 ms (missed cycles : 5). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689285 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830815 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830815 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967450 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967450 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490910 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490910 ms (missed cycles : 4).[0m ×2 + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.409ms + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470692 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470692 ms (missed cycles : 3).[0m ×2 + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.920ms + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.210ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011925 ms (missed cycles : 5). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011925 ms (missed cycles : 5).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.682ms + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.192ms + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.076ms + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185867 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185867 ms (missed cycles : 4).[0m ×2 + 10.21sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.668ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.207ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992983 ms (missed cycles : 5). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992983 ms (missed cycles : 5).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 6.076ms + 11.80sINFOamclParticle filter update iteration stats: 3513 particles 723 points - 4.547ms + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684366 ms (missed cycles : 4). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684366 ms (missed cycles : 4).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 2868 particles 723 points - 3.913ms + 12.80sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.113ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937030 ms (missed cycles : 4). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937030 ms (missed cycles : 4).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 2.176ms + 13.80sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 1.620ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149376 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149376 ms (missed cycles : 5).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 1.358ms + 14.78sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.418ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134589 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134589 ms (missed cycles : 2).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626053 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626053 ms (missed cycles : 3).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504822 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504822 ms (missed cycles : 4).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408745 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408745 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550035 ms (missed cycles : 5). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550035 ms (missed cycles : 5).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154497 ms (missed cycles : 3). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154497 ms (missed cycles : 3).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015501 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015501 ms (missed cycles : 2).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816036 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816036 ms (missed cycles : 2).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389978 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389978 ms (missed cycles : 3).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662569 ms (missed cycles : 4). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662569 ms (missed cycles : 4).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.664ms + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521668 ms (missed cycles : 5). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521668 ms (missed cycles : 5).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.683ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657818 ms (missed cycles : 4). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657818 ms (missed cycles : 4).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755359 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755359 ms (missed cycles : 2).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.681ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.503471 ms (missed cycles : 7). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.503471 ms (missed cycles : 7).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282111 ms (missed cycles : 4). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282111 ms (missed cycles : 4).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4).[0m ×2 + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 33.52sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785078067.95480752 seconds ×3 + 33.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.452ms + 34.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.401ms + 34.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785078068.50122762 seconds. ×3 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3).[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 34.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 34.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.313ms + 34.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4).[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 35.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.386ms + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3).[0m ×2 + 36.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.0s | 89 errors · 33 warnings · 401 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.156ms + 0.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.570ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.513ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3).[0m ×2 + 2.50sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785078277.41766906 seconds ×3 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.392ms + 2.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.485ms ×2 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785078278.00083518 seconds. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785078278.36097264 seconds ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.482ms + 4.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785078278.90138268 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4).[0m ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.783ms + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785078279.35153317 seconds ×3 + 4.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 4.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.940ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3). + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.278ms + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154513 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154513 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171561 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171561 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484680 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484680 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743055 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743055 ms (missed cycles : 3).[0m ×2 + 9.78sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.41sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] ×2 + 10.45sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_video_auth_proxy-33process has died [pid 10523, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.45sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] ×2 + 10.48sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORweb_bridge_auth_proxy-32process has died [pid 10522, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.48sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.52sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.54sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.55sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.57sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.58sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.479354 ms (missed cycles : 6). + 10.60sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 10.62sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 10.64sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 10.66sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 10.68sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 10.70sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 10.71sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 10.73sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system ×2 + 10.75sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 10.75sINFOcontroller_managerShutdown request received.... + 10.75sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.75sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.75sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.75sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.75sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.75sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.75sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.75sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.75sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.75sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.75sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.75sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.75sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.75sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down the controller manager. + 10.76sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.78sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 10.78sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10520] ×2 + 10.78sINFOweb_video_server-31process has finished cleanly [pid 10521] ×2 + 10.78sERRORmove_group-19process has died [pid 10502, 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_prmpp5nw --params-file /tmp/launch_params_y6o54blf --params-file /tmp/launch_params_61wola8w --params-file /tmp/launch_params_bs_3pc7z --params-file /tmp/launch_params_om72l2_g --params-file /tmp/launch_params_5c0i5vxe']. ×2 + 10.80sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 10.81sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.83sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.84sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.84sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.84sINFOcontroller_serverCleaning up + 10.84sINFOlocal_costmap.local_costmapCleaning up + 10.84sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.85sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.85sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.85sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOui_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 + 10.85sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.85sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.85sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.85sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.85sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.85sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.85sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.85sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.85sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.479354 ms (missed cycles : 6).[0m ×2 + 10.85sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.85sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.85sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.85sERRORmove_groupStack trace (most recent call last) in thread 11066: ×2 + 10.86sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.86sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.86sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd882f7ca63, in __clone ×2 + 10.86sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd882eefaa3, in ×2 + 10.86sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd883181db3, in ×2 + 10.86sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd8838c4ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.86sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8834f44d0, in rclcpp::Rate::sleep() ×2 + 10.86sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd883447a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.86sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd88340ca71, in ×2 + 10.86sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd883150390, in __cxa_throw ×2 + 10.86sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd88313aa54, in std::terminate() ×2 + 10.86sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8831500d9, in ×2 + 10.86sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd88313aff4, in ×2 + 10.86sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd882e7b8fe, in abort ×2 + 10.86sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd882e9827d, in raise ×2 + 10.86sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd882ef1b2c, in pthread_kill ×2 + 10.86sERRORmove_groupAborted (Signal sent by tkill() 10502 0) ×2 + 10.86sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.86sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.86sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.86sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.86sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.86sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.86sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.86sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.86sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.86sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.86sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.86sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.86sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.87sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.87sINFOodom_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 + 10.87sINFOodom_qos_relay.pymain() ×2 + 10.87sINFOodom_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 + 10.87sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.87sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.87sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.87sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.87sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.87sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.87sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.87sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.87sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.87sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.87sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.87sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.87sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.87sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.87sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.87sINFOobjective_server_node[2026-07-26 15:04:45.692] [moveit_pro_license] [info] ×2 + 10.87sINFOobjective_server_node************************************************* ×4 + 10.87sINFOobjective_server_node* MoveIt Pro License ×2 + 10.87sINFOobjective_server_node* Application has successfully terminated ×2 + 10.87sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.87sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.87sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561600cae6a4, in _start ×2 + 10.87sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab2ea9c28a, in __libc_start_main ×2 + 10.87sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab2ea9c1d0, in ×2 + 10.87sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab2eab9bbd, in exit ×2 + 10.87sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab2eab9a75, in ×2 + 10.87sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fab2ef888f5, in spdlog::details::registry::~registry() ×2 + 10.87sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561600caed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.87sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561600cb5315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.87sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561600cb45a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.87sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561600cb0b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.87sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561600caed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.87sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2f63e454, in rclcpp::Node::~Node() ×2 + 10.87sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2f5f9515, in ×2 + 10.87sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2f63cd20, in ×2 + 10.87sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2f63cc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.87sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2f5f95d9, in ×2 + 10.87sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2f5fe161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.87sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7faaf5c5a090]) ×2 + 10.89sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.89sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.89sINFOmap_serverDeactivating + 10.89sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.90sINFOmap_serverCleaning up + 10.90sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.90sINFOsmoother_serverCleaning up + 10.91sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.91sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.91sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.91sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.91sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.93sERRORamclThe bond connection to the lifecycle manager has been broken + 10.93sERRORobjective_server_node_main-24process has died [pid 10511, 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_3bnbswva --params-file /tmp/launch_params_qzva9ua9 --params-file /tmp/launch_params_jku7bvek --params-file /tmp/launch_params_fjqbfhsz --params-file /tmp/launch_params_67bubr83 --params-file /tmp/launch_params_rmvbfmfj --params-file /tmp/launch_params_k7haqfgu --params-file /tmp/launch_params_5vvtl4o1 --params-file /tmp/launch_params_f_x5vme2']. ×2 + 10.93sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 10.94sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.94sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.94sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.94sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.94sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.94sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.94sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.94sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.94sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.96sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.96sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 10.96sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.67sERRORui_teleop_bridge-28process has died [pid 10515, 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_c6hteukp']. ×2 + 11.67sINFOexecute_objective_bridge-27process has finished cleanly [pid 10514] ×2 + 11.69sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 10510] ×2 + 11.70sINFOcomponent_container_mt-26process has finished cleanly [pid 10513] ×2 + 11.71sINFOmove_joint_resampler_node-22process has finished cleanly [pid 10505] ×2 + 11.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785078285.516 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.75sINFOparameter_manager_node-20process has finished cleanly [pid 10503] ×2 + 11.77sINFOwaypoint_manager_node-21process has finished cleanly [pid 10504] ×2 + 11.80sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10405] ×2 + 11.81sINFOcomponent_container_mt-25process has finished cleanly [pid 10512] ×2 + 11.82sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 10404] ×2 + 11.85sINFOstatic_transform_publisher-3process has finished cleanly [pid 10402] ×2 + 11.86sINFOstatic_transform_publisher-2process has finished cleanly [pid 10401] ×2 + 11.88sERRORodom_qos_relay.py-4process has died [pid 10403, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.25sINFOweb_bridge-29process has finished cleanly [pid 10516] ×2 + 13.25sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.51sINFOros2_control_node-7process has finished cleanly [pid 10406] ×2 + 15.41sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.43sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.44sERRORcomponent_container_isolated-1process has died [pid 10400, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_2_1taxbw --params-file /tmp/launch_params_3lw2e7u0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 54 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.435725 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.435725 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014647 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.014647 ms (missed cycles : 6).[0m ×2 + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.690ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018032 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018032 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.58sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785078264.87598038 seconds ×3 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.878ms + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.583ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518372 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518372 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785078265.43323302 seconds. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.138ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368369 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368369 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087528 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087528 ms (missed cycles : 4).[0m ×2 + 5.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.865ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003172 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003172 ms (missed cycles : 3).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.669ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712685 ms (missed cycles : 4).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.12sINFOobjective_server_nodeFound path in 69 iterations (0.0369288 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991710 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991710 ms (missed cycles : 2).[0m ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.13sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104937 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104937 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605538 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605538 ms (missed cycles : 2).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.214ms + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658724 ms (missed cycles : 4). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658724 ms (missed cycles : 4).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.974ms + 12.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.924ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.156ms + 13.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.570ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.513ms + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3).[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785078277.41766906 seconds ×3 + 15.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.392ms + 15.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.485ms ×2 + 15.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4).[0m ×2 + 15.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785078278.00083518 seconds. ×3 + 15.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.72sINFOmove_groupClearing octomap...[0m ×2 + 15.72sINFOmove_groupOctomap cleared.[0m ×2 + 16.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785078278.36097264 seconds ×3 + 16.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 16.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.482ms + 16.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785078278.90138268 seconds. ×3 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.783ms + 17.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785078279.35153317 seconds ×3 + 17.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 17.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.940ms + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3). + 17.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.278ms + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 51 warnings · 92 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805595 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805595 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.642ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537755 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537755 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.980372 ms (missed cycles : 6). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.980372 ms (missed cycles : 6).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785078120.99136424 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.061ms + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180210 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180210 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785078121.53837633 seconds. ×3 + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.703ms + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.605ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.875ms + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459743 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459743 ms (missed cycles : 3).[0m ×2 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.600ms + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.156ms + 5.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102113 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102113 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 6.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.269ms + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917250 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917250 ms (missed cycles : 3).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.623ms + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726685 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726685 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.644ms + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.520ms + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276941 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276941 ms (missed cycles : 2).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.362ms + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.242ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723139 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723139 ms (missed cycles : 2).[0m ×2 + 10.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.247ms + 10.81sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 3.764ms + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834410 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834410 ms (missed cycles : 2).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 3076 particles 723 points - 3.075ms + 11.81sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 2.235ms + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025018 ms (missed cycles : 5). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025018 ms (missed cycles : 5).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.723ms + 12.82sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.634ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724181 ms (missed cycles : 4). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724181 ms (missed cycles : 4).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 14.17sINFOjoint_trajectory_controllerGot request to cancel goal + 14.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785078131.90479946 seconds ×3 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736208 ms (missed cycles : 5). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736208 ms (missed cycles : 5).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.632ms + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.807ms + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.871ms + 14.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785078132.44964051 seconds. ×3 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.738ms + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.011ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241410 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241410 ms (missed cycles : 2).[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.347ms + 15.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312253 ms (missed cycles : 5). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312253 ms (missed cycles : 5).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.573ms + 17.00sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 4.422ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931898 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931898 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 6.1s | 36 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317255 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317255 ms (missed cycles : 2).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.475ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981592 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981592 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785078036.37952113 seconds ×3 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566047 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566047 ms (missed cycles : 2).[0m ×2 + 9.40sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785078037.93467116 seconds. ×3 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689285 ms (missed cycles : 5). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689285 ms (missed cycles : 5).[0m ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830815 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830815 ms (missed cycles : 2).[0m ×2 + 10.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967450 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967450 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.8s | 33 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560545 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560545 ms (missed cycles : 4).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692734 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692734 ms (missed cycles : 5).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838982 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838982 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785078203.80983615 seconds ×3 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.007ms + 3.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940214 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940214 ms (missed cycles : 6).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 3.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785078204.35868549 seconds. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.427ms + 3.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 7.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 8.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077971.18084097 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077971.73020482 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.0001e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077974.65033436 seconds ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077127 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077127 ms (missed cycles : 2).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785077975.19190502 seconds. ×3 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864077 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864077 ms (missed cycles : 2).[0m ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658079 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658079 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 0.9s | 21 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.974ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.924ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.156ms + 1.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.570ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.513ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785078277.41766906 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.392ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.485ms ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785078278.00083518 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785078278.36097264 seconds ×3 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.482ms + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785078278.90138268 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.783ms + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785078279.35153317 seconds ×3 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 5.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.940ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3). + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.278ms + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154513 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154513 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708249 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708249 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077971.18084097 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077971.73020482 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.0001e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077974.65033436 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735859 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855370 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273345 ms (missed cycles : 3).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877982 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077971.18084097 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077971.73020482 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.0001e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077974.65033436 seconds ×3 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785077971.18084097 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785077971.73020482 seconds. ×3 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789159 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.0001e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575102 ms (missed cycles : 3).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870683 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785077974.65033436 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077127 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077127 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785077975.19190502 seconds. ×3 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864077 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864077 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658079 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658079 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654790 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844793 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946109 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785078031.31203794 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.220ms + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732514 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 3.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785078032.06713629 seconds. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.88sINFOjoint_trajectory_controllerReceived new action goal + 3.88sINFOjoint_trajectory_controllerAccepted new action goal + 3.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929963 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.046ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687258 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785078067.95480752 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.452ms + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.401ms + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785078068.50122762 seconds. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.313ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 5.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.386ms + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785078067.95480752 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.452ms + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.401ms + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785078068.50122762 seconds. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.313ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 5.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.386ms + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413466 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640272 ms (missed cycles : 4).[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248494 ms (missed cycles : 5).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785078067.95480752 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.452ms + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.401ms + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785078068.50122762 seconds. ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094279 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.313ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117561 ms (missed cycles : 4).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 5.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.386ms + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992162 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941754 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451196 ms (missed cycles : 4).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738479 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070700 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785078208.58884764 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785078209.15582800 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791180 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895939 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276371 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.974ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.924ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425710 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.156ms + 1.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.570ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712468 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.513ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457671 ms (missed cycles : 3).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785078277.41766906 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.392ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.485ms ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626387 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785078278.00083518 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785078278.36097264 seconds ×3 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.482ms + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785078278.90138268 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890237 ms (missed cycles : 4).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.783ms + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785078279.35153317 seconds ×3 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 5.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.940ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3). + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.278ms + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008364 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sINFOjoint_trajectory_controllerReceived new action goal + 6.35sINFOjoint_trajectory_controllerAccepted new action goal + 6.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sINFOjoint_trajectory_controllerReceived new action goal + 6.35sINFOjoint_trajectory_controllerAccepted new action goal + 6.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148699 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148699 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.49sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148699 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148699 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.49sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 6.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282570 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sINFOjoint_trajectory_controllerReceived new action goal + 6.35sINFOjoint_trajectory_controllerAccepted new action goal + 6.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708249 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708249 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486567 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528965 ms (missed cycles : 4).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785077925.76652527 seconds. ×3 + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.47sINFOmove_groupClearing octomap...[0m ×2 + 1.47sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785077925.78674054 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785077926.33908677 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785077926.35922480 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142655 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785077926.89719820 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785077927.04769206 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785077927.61512637 seconds. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993280 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785077927.68531418 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785077928.23232770 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427274 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319410 ms (missed cycles : 5).[0m ×2 | ||||