MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.3s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.9s	15 errors · 309 warnings · 1186 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/2026-07-28-18-26-42-081372-567cb4700943-9217 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.96sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 12.96sINFOstatic_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' + 13.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.02sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 13.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.07sINFOcontroller_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. + 13.07sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.10sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.10sINFOcontroller_managerupdate rate is 600 Hz + 13.10sINFOcontroller_managerOverruns handling is : enabled + 13.10sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.10sWARNcontroller_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. + 13.12sINFOcontroller_serverCreating controller server + 13.13sINFOlocal_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. + 13.13sINFOlocal_costmap.local_costmapCreating Costmap + 13.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.18sINFOros2_control_node-7process started with pid [9273] ×2 + 13.18sINFOmove_group-19process started with pid [9353] ×2 + 13.18sINFOparameter_manager_node-20process started with pid [9354] ×2 + 13.18sINFOwaypoint_manager_node-21process started with pid [9355] ×2 + 13.18sINFOmove_joint_resampler_node-22process started with pid [9357] ×2 + 13.18sINFOmove_end_effector_resampler_node-23process started with pid [9376] ×2 + 13.18sINFOobjective_server_node_main-24process started with pid [9378] ×2 + 13.18sINFOcomponent_container_mt-25process started with pid [9379] ×2 + 13.18sINFOcomponent_container_mt-26process started with pid [9380] ×2 + 13.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.20sINFOexecute_objective_bridge-27process started with pid [9381] ×2 + 13.20sINFOui_teleop_bridge-28process started with pid [9382] ×2 + 13.20sINFOweb_bridge-29process started with pid [9383] ×2 + 13.20sINFOtf2_web_republisher_node-30process started with pid [9384] ×2 + 13.20sINFOweb_video_server-31process started with pid [9385] ×2 + 13.20sINFOweb_bridge_auth_proxy-32process started with pid [9386] ×2 + 13.20sINFOweb_video_auth_proxy-33process started with pid [9387] ×2 + 13.20sINFOmap_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. + 13.20sINFOmap_serverCreating + 13.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.21sINFOcomponent_container_isolated-1process started with pid [9267] ×2 + 13.21sINFOstatic_transform_publisher-2process started with pid [9268] ×2 + 13.21sINFOstatic_transform_publisher-3process started with pid [9269] ×2 + 13.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.21sINFOodom_qos_relay.py-4process started with pid [9270] ×2 + 13.21sINFOscan_to_scan_filter_chain-5process started with pid [9271] ×2 + 13.21sINFOscan_to_scan_filter_chain-6process started with pid [9272] ×2 + 13.21sINFOros2-8process started with pid [9274] ×2 + 13.21sINFOros2-9process started with pid [9341] ×2 + 13.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.22sINFOros2-10process started with pid [9342] ×2 + 13.22sINFOros2-11process started with pid [9343] ×2 + 13.22sINFOros2-12process started with pid [9344] ×2 + 13.22sINFOros2-13process started with pid [9345] ×2 + 13.22sINFOros2-14process started with pid [9346] ×2 + 13.22sINFOros2-15process started with pid [9347] ×2 + 13.22sINFOros2-16process started with pid [9348] ×2 + 13.22sINFOros2-17process started with pid [9349] ×2 + 13.22sINFOros2-18process started with pid [9351] ×2 + 13.23sINFOsmoother_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. + 13.27sINFOsmoother_serverCreating smoother server + 13.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.30sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.30sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.30sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.30sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.30sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.30sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.30sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.30sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.30sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.30sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.30sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.32sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.32sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949716 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949716 ms (missed cycles : 5).[0m ×2 + 13.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.38sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.38sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.38sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.40sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.42sINFOplanner_serverCreating + 13.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.47sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.48sINFOglobal_costmap.global_costmapCreating Costmap + 13.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.51sINFOlifecycle_manager_localizationCreating + 13.53sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.53sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.53sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.53sINFOmap_serverConfiguring + 13.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.56sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.60sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.61sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.61sINFOamclConfiguring + 13.61sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.62sINFOmap_serverActivating + 13.62sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.63sINFOrobot_state_publisherRobot initialized + 13.64sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.64sINFOcontroller_managerReceived robot description from topic. + 13.64sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.65sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.65sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.65sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.67sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.67sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×2 + 13.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.68sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.69sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.70sINFObt_navigatorCreating + 13.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.74sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.74sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.74sINFOamclActivating + 13.74sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.74sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.79sINFOamclSubscribed to map_topic: /map + 13.79sINFOamclSubscribed to scan_topic: /scan_merged + 13.79sINFOamclCreated reinitialize_global_localization service + 13.79sINFOamclCreated request_nomotion_update service + 13.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.79sINFOamclA new map was received + 13.79sINFOamclInitializing particle filter instance + 13.80sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.80sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.80sINFOwaypoint_followerCreating + 13.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.85sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.89sINFOlifecycle_manager_navigationCreating + 13.90sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.95sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.95sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.96sINFOcontroller_serverConfiguring controller interface + 13.96sINFOcontroller_servergetting progress checker plugins.. + 13.96sINFOcontroller_servergetting goal checker plugins.. + 13.96sINFOcontroller_serverController frequency set to 20.0000Hz + 13.96sINFOlocal_costmap.local_costmapConfiguring + 13.96sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.97sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.98sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.98sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 13.98sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.04sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.04sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.05sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.09sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.10sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.10sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.11sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.12sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.574067 seconds + 14.12sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.12sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.12sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.12sINFOmove_groupLoaded robot model in 0.574067 seconds[0m ×2 + 14.13sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.13sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.16sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.17sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.17sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.18sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.18sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.18sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.19sINFOcontroller_serverOptimizer reset + 14.19sINFOwaypoint_manager_nodeLoaded robot model in 0.266751 seconds[0m ×2 + 14.19sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.19sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.19sINFOamclParticle filter initialization completed + 14.19sINFOamclInitializing particles from estimated pose and covariance + 14.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.19sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.20sINFOcontroller_serverController Server has FollowPath controllers available. + 14.20sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.20sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.20sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.21sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.21sINFOsmoother_serverConfiguring smoother server + 14.25sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.26sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.27sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.27sINFOplanner_serverConfiguring + 14.27sINFOglobal_costmap.global_costmapConfiguring + 14.28sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.30sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.31sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.31sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.32sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955757 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955757 ms (missed cycles : 2).[0m ×2 + 14.36sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.36sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.38sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.41sFATALplanner_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 + 14.41sINFOplanner_serverCleaning up + 14.41sINFOglobal_costmap.global_costmapCleaning up + 14.42sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.46sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.46sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.73sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.73sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.73sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.73sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.73sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.73sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.73sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.74sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.74sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.74sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.74sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.74sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.74sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.74sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.74sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.82sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 14.96sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×14 + 15.14sINFOmove_group[2026-07-28 18:27:00.396] [moveit_pro_license] [info] ×2 + 15.14sINFOmove_group************************************************* ×4 + 15.14sINFOmove_group* MoveIt Pro License ×2 + 15.14sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.16sINFOwaypoint_manager_node[2026-07-28 18:27:00.420] [moveit_pro_license] [info] ×2 + 15.16sINFOwaypoint_manager_node************************************************* ×4 + 15.16sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 15.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.19sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.19sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108261 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108261 ms (missed cycles : 4).[0m ×2 + 15.49sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.49sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.49sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.49sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.50sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.50sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.50sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.50sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.50sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.51sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.51sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.51sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.51sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.52sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.67sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.67sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.68sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.05sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.05sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.05sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.05sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.05sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 16.05sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.05sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.05sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.05sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.05sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.05sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.05sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.05sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.05sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.05sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.05sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.05sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.05sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.05sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.05sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.05sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.05sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.05sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.10sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.10sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.10sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 16.23sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 16.23sINFOcontroller_managerLoading controller 'vacuum_gripper' + 16.23sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 16.23sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 16.23sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 16.24sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 16.27sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 16.27sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 16.27sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 16.27sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 16.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 16.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 16.28sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 16.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 16.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 16.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 16.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 16.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 16.29sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 16.29sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233245 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233245 ms (missed cycles : 2).[0m ×2 + 16.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.62sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.64sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.64sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.64sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.64sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.64sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.64sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 16.65sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.65sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 16.65sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 16.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.65sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.65sINFOros2-12process has finished cleanly [pid 9344] ×2 + 16.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.72sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.75sINFOobjective_server_node[2026-07-28 18:27:02.008] [moveit_pro_license] [info] ×2 + 16.75sINFOobjective_server_node************************************************* ×4 + 16.75sINFOobjective_server_node* MoveIt Pro License ×2 + 16.75sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.81sINFOobjective_server_nodeLoaded robot model in 0.0230763 seconds[0m ×2 + 16.81sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.81sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.83sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.83sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.85sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 16.85sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.90sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.91sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 16.91sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 16.95sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.95sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.95sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.96sINFOplatform_velocity_controller_nav2configure successful + 16.96sINFOros2_control_nodeconfigure successful[0m ×6 + 17.06sINFOcomponent_container_mtLoaded robot model in 0.347673 seconds[0m ×2 + 17.06sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.06sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.12sINFOmove_groupMoveGroup debug mode is ON + 17.12sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.19sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.19sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.19sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.20sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.20sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.20sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.20sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.20sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.20sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.27sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 17.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.29sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.29sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.29sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.29sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.29sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.29sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.29sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.29sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 17.30sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.30sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.30sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.30sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.30sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 17.30sINFOmove_group ×8 + 17.30sINFOmove_group****************************************************** ×4 + 17.30sINFOmove_group* MoveGroup using: ×2 + 17.30sINFOmove_group* - apply_planning_scene_service ×2 + 17.30sINFOmove_group* - clear_octomap_service ×2 + 17.30sINFOmove_group* - get_group_urdf ×2 + 17.30sINFOmove_group* - load_geometry_from_file ×2 + 17.30sINFOmove_group* - get_planning_scene_service ×2 + 17.30sINFOmove_group* - kinematics_service ×2 + 17.30sINFOmove_group* - save_geometry_to_file ×2 + 17.30sINFOmove_group* - GetPlanningGroups ×2 + 17.30sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.30sINFOmove_group[0m ×2 + 17.30sINFOmove_group[92mYou can start planning now![0m ×2 + 17.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785263221.444 for reason 'discarding message because the queue is full' + 17.34sINFOros2-13process has finished cleanly [pid 9345] ×2 + 17.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 17.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 17.43sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 17.43sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 17.43sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.45sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.45sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.45sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.45sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811816 ms (missed cycles : 3). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811816 ms (missed cycles : 3).[0m ×2 + 17.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.78sINFOcomponent_container_mt[2026-07-28 18:27:03.016] [moveit_pro_license] [info] ×2 + 17.78sINFOcomponent_container_mt************************************************* ×4 + 17.78sINFOcomponent_container_mt* MoveIt Pro License ×2 + 17.78sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.79sINFOros2_control_node[2026-07-28 18:27:03.050] [info] Controller state will be published at 20 Hz. ×2 + 17.79sINFOros2_control_node[2026-07-28 18:27:03.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.08sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.08sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.15sINFOros2-18process has finished cleanly [pid 9351] ×2 + 18.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 18.17sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 18.17sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 18.17sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 18.17sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 18.17sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 18.17sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 18.20sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 18.20sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 18.20sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 18.20sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 18.21sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 18.21sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 18.21sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 18.21sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863953 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863953 ms (missed cycles : 2).[0m ×2 + 18.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 18.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 18.73sINFOros2-9process has finished cleanly [pid 9341] ×2 + 18.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.79sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.39sINFOros2_control_node[2026-07-28 18:27:04.644] [info] Controller state will be published at 20 Hz. ×2 + 19.39sINFOros2_control_node[2026-07-28 18:27:04.645] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524241 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524241 ms (missed cycles : 2).[0m ×2 + 19.76sINFOros2-17process has finished cleanly [pid 9349] ×2 + 19.76sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 19.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.77sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.77sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 19.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.77sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 19.79sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.79sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.80sINFOplatform_velocity_controllerconfigure successful + 19.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.81sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.81sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 19.90sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785263224.044 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 20.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.29sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 20.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 20.31sINFOros2-11process has finished cleanly [pid 9343] ×2 + 20.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.37sINFOforce_torque_sensor_broadcasterconfigure successful + 20.38sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.38sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.38sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.38sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300307 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300307 ms (missed cycles : 2).[0m ×2 + 20.69sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.69sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.69sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.69sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.73sINFOros2-8process has finished cleanly [pid 9274] ×2 + 20.77sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 20.77sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 20.83sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.83sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.83sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.84sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.22sINFOros2_control_node[2026-07-28 18:27:06.480] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.22sINFOros2_control_node[2026-07-28 18:27:06.483] [info] Controller state will be published at 10 Hz. ×2 + 21.23sINFOros2_control_node[2026-07-28 18:27:06.484] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.59sINFOros2-16process has finished cleanly [pid 9348] ×2 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190250 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190250 ms (missed cycles : 2).[0m ×2 + 21.62sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 21.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 21.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 21.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.02sINFOros2_control_node[2026-07-28 18:27:07.277] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.02sINFOros2_control_node[2026-07-28 18:27:07.279] [info] Controller state will be published at 10 Hz. ×2 + 22.02sINFOros2_control_node[2026-07-28 18:27:07.280] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 22.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 22.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 22.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 22.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 22.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 22.41sINFOros2-15process has finished cleanly [pid 9347] ×2 + 22.41sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785263226.545 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 22.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 22.46sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 22.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 22.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 22.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 22.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 22.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 22.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 22.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 22.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 22.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 22.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 22.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 22.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 3.577ms + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986762 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986762 ms (missed cycles : 2).[0m ×2 + 22.83sINFOros2-10process has finished cleanly [pid 9342] ×2 + 22.85sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k + 22.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1_dmugkt --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_og5ul183 --params-file /tmp/launch_params_lxjl7_9k [0m ×2 + 22.93sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.93sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.94sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.94sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.94sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.94sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.94sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.28sINFOros2-14process has finished cleanly [pid 9346] ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839959 ms (missed cycles : 3). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839959 ms (missed cycles : 3).[0m ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 26.10sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 28.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.30sINFOmove_groupClearing octomap...[0m ×2 + 28.31sINFOmove_groupOctomap cleared.[0m ×2 + 28.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 28.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 29.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 30.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.18sINFOobjective_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 + 30.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 30.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 30.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 30.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.5s	3 errors · 234 warnings · 211 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248736 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248736 ms (missed cycles : 2).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.180ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.810ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078645 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078645 ms (missed cycles : 2).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.997ms + 1.59sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 6.402ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737549 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737549 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 6.412ms + 2.60sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 5.321ms + 3.10sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.188ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.877483 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.877483 ms (missed cycles : 6).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.433ms + 4.09sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.586ms + 4.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOjoint_trajectory_controllerGot request to cancel goal + 4.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785263443.09863210 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127842 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127842 ms (missed cycles : 2).[0m ×2 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.020ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.623ms + 4.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785263443.66196895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.135ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.373299 ms (missed cycles : 10). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.373299 ms (missed cycles : 10).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.037ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.300ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.484ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.146ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350828 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350828 ms (missed cycles : 4).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.214ms + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.60sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.60sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.870ms + 6.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.753ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958844 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958844 ms (missed cycles : 3).[0m ×2 + 7.32sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 9.409ms + 7.60sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 3.897ms + 8.00sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.940ms + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232051 ms (missed cycles : 5). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232051 ms (missed cycles : 5).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845010 ms (missed cycles : 6). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845010 ms (missed cycles : 6).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.856ms + 10.00sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.698ms + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852362 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852362 ms (missed cycles : 2).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969492 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969492 ms (missed cycles : 3).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035246 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035246 ms (missed cycles : 3).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.471617 ms (missed cycles : 7). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.471617 ms (missed cycles : 7).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414980 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414980 ms (missed cycles : 4).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642873 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642873 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637476 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637476 ms (missed cycles : 4).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673085 ms (missed cycles : 3). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673085 ms (missed cycles : 3).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971184 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971184 ms (missed cycles : 3).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783951 ms (missed cycles : 3). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783951 ms (missed cycles : 3).[0m ×2 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866286 ms (missed cycles : 3). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866286 ms (missed cycles : 3).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715257 ms (missed cycles : 6). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715257 ms (missed cycles : 6).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167890 ms (missed cycles : 5). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167890 ms (missed cycles : 5).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308429 ms (missed cycles : 4). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308429 ms (missed cycles : 4).[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673403 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673403 ms (missed cycles : 2).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577324 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577324 ms (missed cycles : 3).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503844 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503844 ms (missed cycles : 3).[0m ×2 + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.238161 ms (missed cycles : 8). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.238161 ms (missed cycles : 8).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196370 ms (missed cycles : 2). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196370 ms (missed cycles : 2).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070621 ms (missed cycles : 3). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070621 ms (missed cycles : 3).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154435 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154435 ms (missed cycles : 2).[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176022 ms (missed cycles : 2). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176022 ms (missed cycles : 2).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 32.41sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275173 ms (missed cycles : 5). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275173 ms (missed cycles : 5).[0m ×2 + 33.91sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.91sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724736 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724736 ms (missed cycles : 2).[0m ×2 + 34.50sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338306 ms (missed cycles : 3). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338306 ms (missed cycles : 3).[0m ×2 + 35.19sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330551 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330551 ms (missed cycles : 4).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697727 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697727 ms (missed cycles : 3).[0m ×2 + 37.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517473 ms (missed cycles : 6). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517473 ms (missed cycles : 6).[0m ×2 + 38.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 39.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740124 ms (missed cycles : 6). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740124 ms (missed cycles : 6).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 40.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940767 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940767 ms (missed cycles : 3).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595847 ms (missed cycles : 4). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595847 ms (missed cycles : 4).[0m ×2 + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675713 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675713 ms (missed cycles : 2).[0m ×2 + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571920 ms (missed cycles : 4). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571920 ms (missed cycles : 4).[0m ×2 + 44.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431305 ms (missed cycles : 4). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431305 ms (missed cycles : 4).[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms ×2 + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183456 ms (missed cycles : 2). + 45.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183456 ms (missed cycles : 2).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631331 ms (missed cycles : 2). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631331 ms (missed cycles : 2).[0m ×2 + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785094 ms (missed cycles : 4). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785094 ms (missed cycles : 4).[0m ×2 + 48.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499696 ms (missed cycles : 3). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499696 ms (missed cycles : 3).[0m ×2 + 49.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703033 ms (missed cycles : 6). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703033 ms (missed cycles : 6).[0m ×2 + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980611 ms (missed cycles : 3). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980611 ms (missed cycles : 3).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 51.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312937 ms (missed cycles : 2). + 51.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312937 ms (missed cycles : 2).[0m ×2 + 52.49sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 52.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260041 ms (missed cycles : 5). + 52.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260041 ms (missed cycles : 5).[0m ×2 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715356 ms (missed cycles : 4). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715356 ms (missed cycles : 4).[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473597 ms (missed cycles : 3). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473597 ms (missed cycles : 3).[0m ×2 + 55.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430209 ms (missed cycles : 6). + 55.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430209 ms (missed cycles : 6).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572833 ms (missed cycles : 2). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572833 ms (missed cycles : 2).[0m ×2 + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153272 ms (missed cycles : 3). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153272 ms (missed cycles : 3).[0m ×2 + 58.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990076 ms (missed cycles : 3). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990076 ms (missed cycles : 3).[0m ×2 + 59.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783467 ms (missed cycles : 2). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783467 ms (missed cycles : 2).[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400235 ms (missed cycles : 2). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400235 ms (missed cycles : 2).[0m ×2 + 61.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 62.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166615 ms (missed cycles : 2). + 62.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166615 ms (missed cycles : 2).[0m ×2 + 62.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 63.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943153 ms (missed cycles : 3). + 63.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943153 ms (missed cycles : 3).[0m ×2 + 63.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 64.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566192 ms (missed cycles : 2). + 64.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566192 ms (missed cycles : 2).[0m ×2 + 64.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 65.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520913 ms (missed cycles : 2). + 65.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520913 ms (missed cycles : 2).[0m ×2 + 65.53sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 66.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219843 ms (missed cycles : 5). + 66.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219843 ms (missed cycles : 5).[0m ×2 + 67.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120115 ms (missed cycles : 2). + 67.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120115 ms (missed cycles : 2).[0m ×2 + 68.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675701 ms (missed cycles : 6). + 68.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675701 ms (missed cycles : 6).[0m ×2 + 69.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 69.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597924 ms (missed cycles : 3). + 69.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597924 ms (missed cycles : 3).[0m ×2 + 70.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737291 ms (missed cycles : 6). + 70.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737291 ms (missed cycles : 6).[0m ×2 + 71.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 71.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837961 ms (missed cycles : 3). + 71.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837961 ms (missed cycles : 3).[0m ×2 + 72.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 72.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440658 ms (missed cycles : 4). + 72.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440658 ms (missed cycles : 4).[0m ×2 + 73.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101553 ms (missed cycles : 4). + 73.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101553 ms (missed cycles : 4).[0m ×2 + 73.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 74.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263016 ms (missed cycles : 2). + 74.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263016 ms (missed cycles : 2).[0m ×2 + 75.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 75.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950709 ms (missed cycles : 3). + 75.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950709 ms (missed cycles : 3).[0m ×2 + 76.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 76.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460564 ms (missed cycles : 3). + 76.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460564 ms (missed cycles : 3).[0m ×2 + 77.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 77.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785263516.62216568 seconds ×3 + 77.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864266 ms (missed cycles : 2). + 77.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864266 ms (missed cycles : 2).[0m ×2 + 77.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.742ms + 78.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.498ms + 78.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785263517.17881918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 78.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 78.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 78.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 79.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 79.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 79.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.9s	186 warnings · 165 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785263279.15957570 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785263279.71727800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (1.891e-05 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.54sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.54sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.54sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.54sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805215 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805215 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785263282.79743958 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785263283.34640193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278202 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278202 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759296 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759296 ms (missed cycles : 2).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548750 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548750 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645636 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645636 ms (missed cycles : 3).[0m ×2 + 8.32sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 1.860ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256859 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256859 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.510ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953288 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953288 ms (missed cycles : 3).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.373ms + 9.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217647 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217647 ms (missed cycles : 2).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693468 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693468 ms (missed cycles : 3).[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 12.21sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413733 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413733 ms (missed cycles : 2).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms ×2 + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820109 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820109 ms (missed cycles : 2).[0m ×2 + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012933 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012933 ms (missed cycles : 2).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms ×2 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635583 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635583 ms (missed cycles : 3).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195918 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195918 ms (missed cycles : 3).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569317 ms (missed cycles : 4). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569317 ms (missed cycles : 4).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004015 ms (missed cycles : 5). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004015 ms (missed cycles : 5).[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776015 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776015 ms (missed cycles : 2).[0m ×2 + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985921 ms (missed cycles : 2). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985921 ms (missed cycles : 2).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585952 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585952 ms (missed cycles : 3).[0m ×2 + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.870249 ms (missed cycles : 6). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.870249 ms (missed cycles : 6).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141128 ms (missed cycles : 4). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141128 ms (missed cycles : 4).[0m ×2 + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896816 ms (missed cycles : 5). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896816 ms (missed cycles : 5).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457985 ms (missed cycles : 4). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457985 ms (missed cycles : 4).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645682 ms (missed cycles : 3). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645682 ms (missed cycles : 3).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.243430 ms (missed cycles : 7). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.243430 ms (missed cycles : 7).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967341 ms (missed cycles : 2). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967341 ms (missed cycles : 2).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490834 ms (missed cycles : 3). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490834 ms (missed cycles : 3).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775628 ms (missed cycles : 3). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775628 ms (missed cycles : 3).[0m ×2 + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953272 ms (missed cycles : 3). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953272 ms (missed cycles : 3).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115238 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115238 ms (missed cycles : 2).[0m ×2 + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492605 ms (missed cycles : 4). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492605 ms (missed cycles : 4).[0m ×2 + 35.01sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768633 ms (missed cycles : 3). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768633 ms (missed cycles : 3).[0m ×2 + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988494 ms (missed cycles : 2). + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988494 ms (missed cycles : 2).[0m ×2 + 36.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667935 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667935 ms (missed cycles : 3).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801768 ms (missed cycles : 2). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801768 ms (missed cycles : 2).[0m ×2 + 39.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574278 ms (missed cycles : 5). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574278 ms (missed cycles : 5).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172198 ms (missed cycles : 4). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172198 ms (missed cycles : 4).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.270331 ms (missed cycles : 6). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.270331 ms (missed cycles : 6).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685262 ms (missed cycles : 3). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685262 ms (missed cycles : 3).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966912 ms (missed cycles : 2). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966912 ms (missed cycles : 2).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599788 ms (missed cycles : 4). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599788 ms (missed cycles : 4).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230620 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230620 ms (missed cycles : 3).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294469 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294469 ms (missed cycles : 2).[0m ×2 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429425 ms (missed cycles : 4). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429425 ms (missed cycles : 4).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184027 ms (missed cycles : 2). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184027 ms (missed cycles : 2).[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.492768 ms (missed cycles : 6). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.492768 ms (missed cycles : 6).[0m ×2 + 50.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388391 ms (missed cycles : 3). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388391 ms (missed cycles : 3).[0m ×2 + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732586 ms (missed cycles : 2). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732586 ms (missed cycles : 2).[0m ×2 + 51.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 52.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515285 ms (missed cycles : 3). + 52.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515285 ms (missed cycles : 3).[0m ×2 + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500964 ms (missed cycles : 3). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500964 ms (missed cycles : 3).[0m ×2 + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081587 ms (missed cycles : 2). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081587 ms (missed cycles : 2).[0m ×2 + 55.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558746 ms (missed cycles : 2). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558746 ms (missed cycles : 2).[0m ×2 + 57.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 57.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 59.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 59.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 60.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 60.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 60.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 60.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 60.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 61.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 61.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 61.50sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 61.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 63.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.6s	183 warnings · 149 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944114 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944114 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.867ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746656 ms (missed cycles : 5). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746656 ms (missed cycles : 5).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.989ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764811 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764811 ms (missed cycles : 3).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.248ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.077ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705346 ms (missed cycles : 6). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705346 ms (missed cycles : 6).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.576ms + 11.30sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 5.907ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831052 ms (missed cycles : 3). + 11.81sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 5.083ms + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831052 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 3.273ms + 12.81sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.200ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428817 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428817 ms (missed cycles : 3).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.843ms + 13.80sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.579ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597470 ms (missed cycles : 6). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597470 ms (missed cycles : 6).[0m ×2 + 14.11sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148566 ms (missed cycles : 5). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148566 ms (missed cycles : 5).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365825 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365825 ms (missed cycles : 2).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803257 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803257 ms (missed cycles : 4).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832218 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832218 ms (missed cycles : 2).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805994 ms (missed cycles : 3). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805994 ms (missed cycles : 3).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702049 ms (missed cycles : 4). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702049 ms (missed cycles : 4).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058773 ms (missed cycles : 4). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058773 ms (missed cycles : 4).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438172 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438172 ms (missed cycles : 2).[0m ×2 + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806590 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806590 ms (missed cycles : 3).[0m ×2 + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949374 ms (missed cycles : 5). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949374 ms (missed cycles : 5).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079358 ms (missed cycles : 3). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079358 ms (missed cycles : 3).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848997 ms (missed cycles : 3). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848997 ms (missed cycles : 3).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952963 ms (missed cycles : 2). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952963 ms (missed cycles : 2).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497164 ms (missed cycles : 4). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497164 ms (missed cycles : 4).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261188 ms (missed cycles : 5). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261188 ms (missed cycles : 5).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847723 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847723 ms (missed cycles : 2).[0m ×2 + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985934 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985934 ms (missed cycles : 2).[0m ×2 + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668182 ms (missed cycles : 2). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668182 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612945 ms (missed cycles : 3). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612945 ms (missed cycles : 3).[0m ×2 + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375008 ms (missed cycles : 5). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375008 ms (missed cycles : 5).[0m ×2 + 34.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 35.11sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138479 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138479 ms (missed cycles : 2).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274011 ms (missed cycles : 2). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274011 ms (missed cycles : 2).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053320 ms (missed cycles : 5). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053320 ms (missed cycles : 5).[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928392 ms (missed cycles : 4). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928392 ms (missed cycles : 4).[0m ×2 + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335830 ms (missed cycles : 2). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335830 ms (missed cycles : 2).[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772102 ms (missed cycles : 2). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772102 ms (missed cycles : 2).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983926 ms (missed cycles : 3). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983926 ms (missed cycles : 3).[0m ×2 + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076580 ms (missed cycles : 2). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076580 ms (missed cycles : 2).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.323398 ms (missed cycles : 10). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.323398 ms (missed cycles : 10).[0m ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631427 ms (missed cycles : 4). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631427 ms (missed cycles : 4).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481754 ms (missed cycles : 2). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481754 ms (missed cycles : 2).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633283 ms (missed cycles : 4). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633283 ms (missed cycles : 4).[0m ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244429 ms (missed cycles : 2). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244429 ms (missed cycles : 2).[0m ×2 + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278552 ms (missed cycles : 2). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278552 ms (missed cycles : 2).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 50.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874433 ms (missed cycles : 3). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874433 ms (missed cycles : 3).[0m ×2 + 51.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680138 ms (missed cycles : 2). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680138 ms (missed cycles : 2).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 52.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216469 ms (missed cycles : 4). + 52.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216469 ms (missed cycles : 4).[0m ×2 + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316228 ms (missed cycles : 3). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316228 ms (missed cycles : 3).[0m ×2 + 54.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968502 ms (missed cycles : 2). + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968502 ms (missed cycles : 2).[0m ×2 + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482032 ms (missed cycles : 4). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482032 ms (missed cycles : 4).[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.059571 ms (missed cycles : 10). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.059571 ms (missed cycles : 10).[0m ×2 + 57.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784973 ms (missed cycles : 2). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784973 ms (missed cycles : 2).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873903 ms (missed cycles : 3). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873903 ms (missed cycles : 3).[0m ×2 + 59.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726486 ms (missed cycles : 3). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726486 ms (missed cycles : 3).[0m ×2 + 59.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529885 ms (missed cycles : 3). + 60.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529885 ms (missed cycles : 3).[0m ×2 + 60.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785263577.99416614 seconds ×3 + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.069ms + 61.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 61.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785263578.55629206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.045ms + 61.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554461 ms (missed cycles : 4). + 61.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554461 ms (missed cycles : 4).[0m ×2 + 61.62sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). ×2 + 61.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245361 ms (missed cycles : 2). + 62.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245361 ms (missed cycles : 2).[0m ×2 + 63.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.698ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.9s	183 warnings · 170 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.02sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785263376.55976105 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785263377.12514091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4). + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.686ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.751ms + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.362ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366757 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366757 ms (missed cycles : 3).[0m ×2 + 7.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.900ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522683 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522683 ms (missed cycles : 3).[0m ×2 + 9.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.649ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794996 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794996 ms (missed cycles : 3).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.686ms + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.192ms + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019698 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019698 ms (missed cycles : 2).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 4539 particles 723 points - 5.792ms + 11.15sINFOamclParticle filter update iteration stats: 4373 particles 723 points - 5.026ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443144 ms (missed cycles : 4). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443144 ms (missed cycles : 4).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 5.066ms + 12.17sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 4.046ms + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688572 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688572 ms (missed cycles : 3).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 3.832ms + 13.17sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 3.958ms + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876094 ms (missed cycles : 3). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876094 ms (missed cycles : 3).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 3.392ms + 14.17sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.587ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166555 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166555 ms (missed cycles : 2).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.158ms + 15.17sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.247ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867893 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867893 ms (missed cycles : 2).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.858ms + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077816 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077816 ms (missed cycles : 3).[0m ×2 + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876012 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876012 ms (missed cycles : 2).[0m ×2 + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 18.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165884 ms (missed cycles : 5). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165884 ms (missed cycles : 5).[0m ×2 + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms ×2 + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773192 ms (missed cycles : 6). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773192 ms (missed cycles : 6).[0m ×2 + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786950 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786950 ms (missed cycles : 2).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977752 ms (missed cycles : 3). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977752 ms (missed cycles : 3).[0m ×2 + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503181 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503181 ms (missed cycles : 2).[0m ×2 + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916235 ms (missed cycles : 4). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916235 ms (missed cycles : 4).[0m ×2 + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108783 ms (missed cycles : 6). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108783 ms (missed cycles : 6).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.852301 ms (missed cycles : 7). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.852301 ms (missed cycles : 7).[0m ×2 + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892897 ms (missed cycles : 3). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892897 ms (missed cycles : 3).[0m ×2 + 27.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901695 ms (missed cycles : 3). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901695 ms (missed cycles : 3).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 28.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064489 ms (missed cycles : 2). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064489 ms (missed cycles : 2).[0m ×2 + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms ×2 + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623288 ms (missed cycles : 4). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623288 ms (missed cycles : 4).[0m ×2 + 30.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms ×2 + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777036 ms (missed cycles : 4). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777036 ms (missed cycles : 4).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966072 ms (missed cycles : 3). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966072 ms (missed cycles : 3).[0m ×2 + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671249 ms (missed cycles : 4). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671249 ms (missed cycles : 4).[0m ×2 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525795 ms (missed cycles : 3). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525795 ms (missed cycles : 3).[0m ×2 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605229 ms (missed cycles : 4). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605229 ms (missed cycles : 4).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434716 ms (missed cycles : 3). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434716 ms (missed cycles : 3).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248043 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248043 ms (missed cycles : 3).[0m ×2 + 37.58sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.21sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119195 ms (missed cycles : 4). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119195 ms (missed cycles : 4).[0m ×2 + 38.87sINFOros2_control_nodeMuJoCo sim: 0.80% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714436 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714436 ms (missed cycles : 2).[0m ×2 + 39.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 40.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503757 ms (missed cycles : 4). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503757 ms (missed cycles : 4).[0m ×2 + 41.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501172 ms (missed cycles : 4). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501172 ms (missed cycles : 4).[0m ×2 + 42.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.369937 ms (missed cycles : 8). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.369937 ms (missed cycles : 8).[0m ×2 + 43.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616614 ms (missed cycles : 4). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616614 ms (missed cycles : 4).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397105 ms (missed cycles : 4). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397105 ms (missed cycles : 4).[0m ×2 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734721 ms (missed cycles : 2). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734721 ms (missed cycles : 2).[0m ×2 + 46.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.208318 ms (missed cycles : 8). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.208318 ms (missed cycles : 8).[0m ×2 + 47.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.725383 ms (missed cycles : 6). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.725383 ms (missed cycles : 6).[0m ×2 + 47.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 48.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683783 ms (missed cycles : 3). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683783 ms (missed cycles : 3).[0m ×2 + 49.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719513 ms (missed cycles : 3). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719513 ms (missed cycles : 3).[0m ×2 + 50.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 50.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603806 ms (missed cycles : 2). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603806 ms (missed cycles : 2).[0m ×2 + 51.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098478 ms (missed cycles : 5). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098478 ms (missed cycles : 5).[0m ×2 + 52.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 52.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094955 ms (missed cycles : 4). + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094955 ms (missed cycles : 4).[0m ×2 + 53.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547404 ms (missed cycles : 2). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547404 ms (missed cycles : 2).[0m ×2 + 54.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 55.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574716 ms (missed cycles : 2). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574716 ms (missed cycles : 2).[0m ×2 + 55.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 56.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617333 ms (missed cycles : 4). + 56.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617333 ms (missed cycles : 4).[0m ×2 + 56.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 57.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273506 ms (missed cycles : 2). + 57.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273506 ms (missed cycles : 2).[0m ×2 + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707623 ms (missed cycles : 2). + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707623 ms (missed cycles : 2).[0m ×2 + 58.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399961 ms (missed cycles : 3). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399961 ms (missed cycles : 3).[0m ×2 + 59.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785263432.46530104 seconds ×3 + 60.07sINFOamclParticle filter update iteration stats: 3097 particles 723 points - 2.601ms + 60.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250695 ms (missed cycles : 4). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250695 ms (missed cycles : 4).[0m ×2 + 60.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 60.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785263433.02451396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 60.91sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 61.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.792ms + 61.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400434 ms (missed cycles : 3). + 61.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400434 ms (missed cycles : 3).[0m ×2 + 61.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.311ms + 61.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.903ms + 61.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.855ms + 62.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 62.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.071ms + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920296 ms (missed cycles : 3). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920296 ms (missed cycles : 3).[0m ×2 + 62.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.220ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 140 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 5.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657824 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657824 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115834 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115834 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004938 ms (missed cycles : 5). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004938 ms (missed cycles : 5).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.084099 ms (missed cycles : 5). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.084099 ms (missed cycles : 5).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685503 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685503 ms (missed cycles : 3).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063486 ms (missed cycles : 5). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063486 ms (missed cycles : 5).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702828 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702828 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174019 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174019 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726215 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726215 ms (missed cycles : 3).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713870 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713870 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913684 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913684 ms (missed cycles : 3).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033403 ms (missed cycles : 5). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033403 ms (missed cycles : 5).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446157 ms (missed cycles : 4). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446157 ms (missed cycles : 4).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837261 ms (missed cycles : 2). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837261 ms (missed cycles : 2).[0m ×2 + 20.08sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.086ms + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922721 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922721 ms (missed cycles : 2).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.226778 ms (missed cycles : 6). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.226778 ms (missed cycles : 6).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113391 ms (missed cycles : 4). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113391 ms (missed cycles : 4).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857106 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857106 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.248685 ms (missed cycles : 6). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.248685 ms (missed cycles : 6).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754478 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754478 ms (missed cycles : 2).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676117 ms (missed cycles : 2). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676117 ms (missed cycles : 2).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427830 ms (missed cycles : 4). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427830 ms (missed cycles : 4).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900693 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900693 ms (missed cycles : 2).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878219 ms (missed cycles : 3). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878219 ms (missed cycles : 3).[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870206 ms (missed cycles : 3). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870206 ms (missed cycles : 3).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197174 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197174 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804843 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804843 ms (missed cycles : 2).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349244 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349244 ms (missed cycles : 3).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761383 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761383 ms (missed cycles : 2).[0m ×2 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.922413 ms (missed cycles : 6). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.922413 ms (missed cycles : 6).[0m ×2 + 37.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776333 ms (missed cycles : 3). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776333 ms (missed cycles : 3).[0m ×2 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110801 ms (missed cycles : 2). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110801 ms (missed cycles : 2).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043712 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043712 ms (missed cycles : 2).[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001917 ms (missed cycles : 2). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001917 ms (missed cycles : 2).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837289 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837289 ms (missed cycles : 2).[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355090 ms (missed cycles : 2). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355090 ms (missed cycles : 2).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3).[0m ×2 + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4).[0m ×2 + 47.17sINFOjoint_trajectory_controllerGoal reached, success! + 47.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785263279.15957570 seconds ×3 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2).[0m ×2 + 47.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785263279.71727800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3).[0m ×2 + 48.68sINFOobjective_server_nodeFound path in 0 iterations (1.891e-05 s). ×2 + 48.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.2s	111 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417718 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417718 ms (missed cycles : 4).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134607 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134607 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.11sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785263344.33820677 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817088 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817088 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785263345.88960052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (7.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138674 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138674 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906775 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906775 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100503 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100503 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262629 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262629 ms (missed cycles : 4).[0m ×2 + 8.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074692 ms (missed cycles : 4). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074692 ms (missed cycles : 4).[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.543ms + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms ×2 + 10.13sINFOros2_control_nodeMuJoCo sim: 0.69% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769763 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769763 ms (missed cycles : 2).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.893ms + 11.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.311ms + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082427 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082427 ms (missed cycles : 2).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.704ms + 12.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.268ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111646 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111646 ms (missed cycles : 2).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 3076 particles 723 points - 4.348ms + 13.02sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.607ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316756 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316756 ms (missed cycles : 3).[0m ×2 + 13.54sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.634ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752028 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752028 ms (missed cycles : 2).[0m ×2 + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604317 ms (missed cycles : 4). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604317 ms (missed cycles : 4).[0m ×2 + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338672 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338672 ms (missed cycles : 2).[0m ×2 + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms ×2 + 17.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361694 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361694 ms (missed cycles : 4).[0m ×2 + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105882 ms (missed cycles : 4). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105882 ms (missed cycles : 4).[0m ×2 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.504898 ms (missed cycles : 7). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.504898 ms (missed cycles : 7).[0m ×2 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838639 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838639 ms (missed cycles : 3).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693361 ms (missed cycles : 6). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693361 ms (missed cycles : 6).[0m ×2 + 22.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368415 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368415 ms (missed cycles : 2).[0m ×2 + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms ×2 + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264740 ms (missed cycles : 5). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264740 ms (missed cycles : 5).[0m ×2 + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770606 ms (missed cycles : 6). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770606 ms (missed cycles : 6).[0m ×2 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188313 ms (missed cycles : 5). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188313 ms (missed cycles : 5).[0m ×2 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473372 ms (missed cycles : 4). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473372 ms (missed cycles : 4).[0m ×2 + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.909944 ms (missed cycles : 6). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.909944 ms (missed cycles : 6).[0m ×2 + 28.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138708 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138708 ms (missed cycles : 3).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081488 ms (missed cycles : 5).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2).[0m ×2 + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 33.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2).[0m ×2 + 34.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 35.33sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785263376.55976105 seconds ×3 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4).[0m ×2 + 35.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 35.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 35.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785263377.12514091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 36.23sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4). + 36.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4).[0m ×2 + 36.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.686ms + 37.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3).[0m ×2 + 37.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 37.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.751ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.0s	55 warnings · 135 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784973 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784973 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873903 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873903 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726486 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726486 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529885 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529885 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785263577.99416614 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.069ms + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785263578.55629206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.045ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554461 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554461 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245361 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245361 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.698ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520883 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520883 ms (missed cycles : 4).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840558 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840558 ms (missed cycles : 3).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.717ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921576 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921576 ms (missed cycles : 3).[0m ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (1.12e-06 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (7.2e-07 s). ×2 + 8.94sINFOobjective_server_nodeFound path in 69 iterations (0.0494082 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.18sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045199 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045199 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371522 ms (missed cycles : 4). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371522 ms (missed cycles : 4).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719987 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719987 ms (missed cycles : 2).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.276ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430760 ms (missed cycles : 4). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430760 ms (missed cycles : 4).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.200ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.202ms + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.564ms + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5).[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.587ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3).[0m ×2 + 16.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785263590.95646143 seconds ×3 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.540ms + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3).[0m ×2 + 16.60sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.533ms + 16.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785263591.54321957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.77sINFOmove_groupClearing octomap...[0m ×2 + 16.77sINFOmove_groupOctomap cleared.[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.077ms + 17.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785263592.06336021 seconds ×3 + 17.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 17.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.102ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 17.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785263592.62455797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.658ms + 18.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785263593.07472420 seconds ×3 + 18.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 18.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904001 ms (missed cycles : 2). + 18.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.083ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	89 errors · 36 warnings · 433 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.200ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.202ms + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.564ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.587ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785263590.95646143 seconds ×3 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.540ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3).[0m ×2 + 3.31sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.533ms + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785263591.54321957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.077ms + 3.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785263592.06336021 seconds ×3 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.102ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785263592.62455797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.658ms + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785263593.07472420 seconds ×3 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904001 ms (missed cycles : 2). + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.083ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904001 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608397 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608397 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888891 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888891 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398811 ms (missed cycles : 6). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398811 ms (missed cycles : 6).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097986 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097986 ms (missed cycles : 4).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837257 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837257 ms (missed cycles : 4).[0m ×2 + 10.94sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] ×2 + 10.99sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORweb_video_auth_proxy-33process has died [pid 9387, 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 + 10.99sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] ×2 + 11.02sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-32process has died [pid 9386, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.02sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.09sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.12sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.14sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.16sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.18sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.20sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system ×2 + 11.21sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.24sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.26sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.29sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.32sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.34sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.35sINFOweb_video_server-31process has finished cleanly [pid 9385] ×2 + 11.37sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.38sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9384] ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127779 ms (missed cycles : 3). + 11.40sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.40sINFOcontroller_managerShutdown request received.... + 11.40sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.40sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.40sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.40sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.40sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.40sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.40sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.41sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.41sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.41sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.41sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.41sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.41sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.41sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.41sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.41sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.41sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.41sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.41sINFOcontroller_managerShutting down the controller manager. + 11.42sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.44sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.45sERRORui_teleop_bridge-28process has died [pid 9382, 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_742ftl5i']. ×2 + 11.47sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.47sERRORmove_group-19process has died [pid 9353, 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_029b0t8r --params-file /tmp/launch_params_q_ffssuv --params-file /tmp/launch_params_e9slmhso --params-file /tmp/launch_params_ln6v4ah5 --params-file /tmp/launch_params_g3p7r90f --params-file /tmp/launch_params_akqx3uyi']. ×2 + 11.49sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.49sINFOcomponent_container_mt-26process has finished cleanly [pid 9380] ×2 + 11.51sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.53sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.53sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.53sINFOcontroller_serverCleaning up + 11.53sINFOlocal_costmap.local_costmapCleaning up + 11.53sINFOexecute_objective_bridge-27process has finished cleanly [pid 9381] ×2 + 11.53sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sERRORui_teleop_bridgeTraceback (most recent call last): ×4 + 11.53sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 335, in main ×2 + 11.53sINFOui_teleop_bridgeexecutor.spin() ×2 + 11.53sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 359, in spin ×2 + 11.53sINFOui_teleop_bridgeself._spin_once_impl() ×2 + 11.53sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 991, in _spin_once_impl ×2 + 11.53sINFOui_teleop_bridgehandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.53sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.53sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.54sINFOui_teleop_bridgereturn next(self._cb_iter) ×2 + 11.54sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.54sINFOui_teleop_bridgewait_set = _rclpy.WaitSet( ×2 + 11.54sINFOui_teleop_bridge^^^^^^^^^^^^^^^ ×2 + 11.54sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.54sINFOui_teleop_bridge ×4 + 11.54sINFOui_teleop_bridgeDuring handling of the above exception, another exception occurred: ×2 + 11.54sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.54sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.54sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.54sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.54sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.54sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.54sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.54sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.54sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.54sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.54sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.54sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.54sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.54sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.54sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.55sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.55sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.55sERRORmove_groupStack trace (most recent call last) in thread 9965: ×2 + 11.55sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.55sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f78539ffa63, in __clone ×2 + 11.55sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7853972aa3, in ×2 + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127779 ms (missed cycles : 3).[0m ×2 + 11.55sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.55sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7853c04db3, in ×2 + 11.55sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7854347ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.55sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7853f774d0, in rclcpp::Rate::sleep() ×2 + 11.55sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7853ecaa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.55sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7853e8fa71, in ×2 + 11.55sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7853bd3390, in __cxa_throw ×2 + 11.55sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7853bbda54, in std::terminate() ×2 + 11.55sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7853bd30d9, in ×2 + 11.55sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7853bbdff4, in ×2 + 11.55sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f78538fe8fe, in abort ×2 + 11.55sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f785391b27d, in raise ×2 + 11.55sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7853974b2c, in pthread_kill ×2 + 11.55sERRORmove_groupAborted (Signal sent by tkill() 9353 0) ×2 + 11.55sINFOobjective_server_node[2026-07-28 18:33:19.476] [moveit_pro_license] [info] ×2 + 11.55sINFOobjective_server_node************************************************* ×4 + 11.55sINFOobjective_server_node* MoveIt Pro License ×2 + 11.55sINFOobjective_server_node* Application has successfully terminated ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.55sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.55sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.56sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 11.56sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.56sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.56sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.56sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563a5e3976a4, in _start ×2 + 11.56sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3648228a, in __libc_start_main ×2 + 11.56sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd364821d0, in ×2 + 11.56sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3649fbbd, in exit ×2 + 11.56sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3649fa75, in ×2 + 11.56sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fcd3696e8f5, in spdlog::details::registry::~registry() ×2 + 11.56sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563a5e397d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.56sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563a5e39e315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.56sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563a5e39d5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.56sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563a5e399b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.56sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563a5e397d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.56sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd37028454, in rclcpp::Node::~Node() ×2 + 11.56sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd36fe3515, in ×2 + 11.56sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd37026d20, in ×2 + 11.56sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd37026c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.56sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd36fe35d9, in ×2 + 11.56sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd36fe8161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.56sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fccf37ef380]) ×2 + 11.56sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.56sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.56sINFOodom_qos_relay.pymain() ×2 + 11.56sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.56sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.56sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.56sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.56sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.56sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.56sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.56sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.56sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.56sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.56sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.56sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.56sERRORobjective_server_node_main-24process has died [pid 9378, 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_yzeafnlo --params-file /tmp/launch_params_8vjrw8sx --params-file /tmp/launch_params_shd1iib_ --params-file /tmp/launch_params_n594nndw --params-file /tmp/launch_params_hus8hsmf --params-file /tmp/launch_params_9bodb9yq --params-file /tmp/launch_params_27qb67cr --params-file /tmp/launch_params_j6lne4mp --params-file /tmp/launch_params_sxyowe4o']. ×2 + 11.57sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.57sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.57sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.57sINFOmap_serverDeactivating + 11.57sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.58sINFOmap_serverCleaning up + 11.58sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.58sINFOsmoother_serverCleaning up + 11.59sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 11.59sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.59sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.59sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 11.59sINFOlifecycle_manager_localization[34m[1mDeactivating amcl[0m[0m + 11.59sINFOamclDeactivating + 11.60sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.60sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.60sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.60sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.60sINFOros2_control_nodeAsync messages lost 0[0m ×2 + 11.60sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.60sINFOros2_control_nodeAsync messages lost 10[0m ×2 + 11.60sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.72sERRORcomponent_container_isolated-1process has died [pid 9267, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_mh2uo997 --params-file /tmp/launch_params_v0_ib0hn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.31sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9376] ×2 + 12.35sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9357] ×2 + 12.41sINFOparameter_manager_node-20process has finished cleanly [pid 9354] ×2 + 12.42sINFOwaypoint_manager_node-21process has finished cleanly [pid 9355] ×2 + 12.46sINFOcomponent_container_mt-25process has finished cleanly [pid 9379] ×2 + 12.46sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9272] ×2 + 12.49sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9271] ×2 + 12.53sINFOstatic_transform_publisher-3process has finished cleanly [pid 9269] ×2 + 12.55sINFOstatic_transform_publisher-2process has finished cleanly [pid 9268] ×2 + 12.57sERRORodom_qos_relay.py-4process has died [pid 9270, 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 + 13.75sINFOweb_bridge-29process has finished cleanly [pid 9383] ×2 + 13.75sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.20sINFOros2_control_node-7process has finished cleanly [pid 9273] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.6s	3 errors · 51 warnings · 96 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617333 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617333 ms (missed cycles : 4).[0m ×2 + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273506 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273506 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707623 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707623 ms (missed cycles : 2).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399961 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399961 ms (missed cycles : 3).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785263432.46530104 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOamclParticle filter update iteration stats: 3097 particles 723 points - 2.601ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250695 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250695 ms (missed cycles : 4).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 4.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785263433.02451396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.792ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400434 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400434 ms (missed cycles : 3).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.311ms + 5.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.903ms + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.855ms + 6.05sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.071ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920296 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920296 ms (missed cycles : 3).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.220ms + 6.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.697ms + 7.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.439ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.252327 ms (missed cycles : 8). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.252327 ms (missed cycles : 8).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083077 ms (missed cycles : 4). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083077 ms (missed cycles : 4).[0m ×2 + 8.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.734ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097455 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097455 ms (missed cycles : 2).[0m ×2 + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.360ms + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.513ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248736 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248736 ms (missed cycles : 2).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.180ms + 10.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.810ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078645 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078645 ms (missed cycles : 2).[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.997ms + 11.95sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 6.402ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737549 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737549 ms (missed cycles : 3).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 6.412ms + 12.96sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 5.321ms + 13.46sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.188ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.877483 ms (missed cycles : 6). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.877483 ms (missed cycles : 6).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.433ms + 14.45sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.586ms + 14.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOjoint_trajectory_controllerGot request to cancel goal + 14.47sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.47sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.47sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785263443.09863210 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127842 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127842 ms (missed cycles : 2).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.020ms + 14.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.623ms + 15.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785263443.66196895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.135ms + 15.42sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.373299 ms (missed cycles : 10). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.373299 ms (missed cycles : 10).[0m ×2 + 15.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.037ms + 15.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.300ms + 16.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.484ms + 16.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.146ms + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350828 ms (missed cycles : 4). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350828 ms (missed cycles : 4).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.214ms + 16.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.870ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.6s	36 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 4.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417718 ms (missed cycles : 4). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417718 ms (missed cycles : 4).[0m ×2 + 7.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134607 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134607 ms (missed cycles : 3).[0m ×2 + 8.14sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785263344.33820677 seconds ×3 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817088 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817088 ms (missed cycles : 2).[0m ×2 + 9.69sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785263345.88960052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (7.5e-07 s). ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138674 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138674 ms (missed cycles : 2).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906775 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906775 ms (missed cycles : 2).[0m ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.8s	36 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101553 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101553 ms (missed cycles : 4).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263016 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263016 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950709 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950709 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460564 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460564 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 4.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785263516.62216568 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864266 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864266 ms (missed cycles : 2).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.742ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.498ms + 4.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785263517.17881918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 5.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 8.88sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 9.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	33 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785263279.15957570 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785263279.71727800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeFound path in 0 iterations (1.891e-05 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805215 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805215 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785263282.79743958 seconds ×3 + 8.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785263283.34640193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278202 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278202 ms (missed cycles : 2).[0m ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759296 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759296 ms (missed cycles : 2).[0m ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548750 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548750 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	24 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430760 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430760 ms (missed cycles : 4).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.200ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.202ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.564ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.587ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785263590.95646143 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.540ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3).[0m ×2 + 4.32sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.533ms + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785263591.54321957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.49sINFOmove_groupClearing octomap...[0m ×2 + 4.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.077ms + 5.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785263592.06336021 seconds ×3 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.102ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 5.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785263592.62455797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.658ms + 6.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785263593.07472420 seconds ×3 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 6.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904001 ms (missed cycles : 2). + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.083ms + 6.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904001 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608397 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608397 ms (missed cycles : 4).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 5.63sINFOjoint_trajectory_controllerReceived new action goal + 5.63sINFOjoint_trajectory_controllerAccepted new action goal + 5.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657824 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657824 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785263279.15957570 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785263279.71727800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeFound path in 0 iterations (1.891e-05 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868811 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910260 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999958 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315339 ms (missed cycles : 4).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785263279.15957570 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785263279.71727800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeFound path in 0 iterations (1.891e-05 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785263279.15957570 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355990 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785263279.71727800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731780 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (1.891e-05 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580944 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805215 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805215 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785263282.79743958 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785263283.34640193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278202 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278202 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759296 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759296 ms (missed cycles : 2).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548750 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548750 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 4.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 4.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 4.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 4.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664624 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434016 ms (missed cycles : 7).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094807 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683891 ms (missed cycles : 3).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785263339.72658038 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.513ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.650ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743735 ms (missed cycles : 3).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 4.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785263340.28787661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122455 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867789 ms (missed cycles : 2).[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785263376.55976105 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785263377.12514091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4). + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.686ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.751ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785263376.55976105 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785263377.12514091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4). + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.686ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.751ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029215 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683909 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906707 ms (missed cycles : 2).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848225 ms (missed cycles : 2).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785263376.55976105 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476293 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785263377.12514091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4). + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345623 ms (missed cycles : 4).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.686ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564060 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.751ms
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438213 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882788 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555078 ms (missed cycles : 4).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2). + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.772ms + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043501 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785263521.42904043 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124156 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785263521.99402285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644999 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806997 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430760 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430760 ms (missed cycles : 4).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.200ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925532 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.202ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.564ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300637 ms (missed cycles : 5).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.587ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245021 ms (missed cycles : 3).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785263590.95646143 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.540ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631064 ms (missed cycles : 3).[0m ×2 + 4.32sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.533ms + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785263591.54321957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.49sINFOmove_groupClearing octomap...[0m ×2 + 4.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.077ms + 5.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785263592.06336021 seconds ×3 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.102ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711135 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 5.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785263592.62455797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.658ms + 6.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785263593.07472420 seconds ×3 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 6.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904001 ms (missed cycles : 2). + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.083ms
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839959 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 2.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.60sINFOmove_groupClearing octomap...[0m ×2 + 4.60sINFOmove_groupOctomap cleared.[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 7.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 7.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 7.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839959 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 2.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.60sINFOmove_groupClearing octomap...[0m ×2 + 4.60sINFOmove_groupOctomap cleared.[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164004 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 1.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657824 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657824 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800662 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055664 ms (missed cycles : 5).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576987 ms (missed cycles : 4).[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785263233.56046939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785263233.57071352 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399244 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785263234.12863421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785263234.13876963 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785263234.69300961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785263234.84358239 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326547 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785263235.42940569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785263235.50956130 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785263236.06618285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3). + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782585 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744276 ms (missed cycles : 2).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2