69
Total objective tests
15
Objectives passed
3
Objectives failed
51
Objectives skipped
19.6s
Avg test time
83%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives3 fail10 pass24 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 35.0s | 6 errors · 117 warnings · 124 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.99sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785693079.76374054 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_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 4.859268 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859268 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.940ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785693080.33835864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.034ms + 5.01sINFOobjective_server_nodeFound path in 0 iterations (6.86e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.713ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.569ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.372ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.592ms + 6.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661289 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661289 ms (missed cycles : 3).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.429ms + 7.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.000ms + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.847ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617044 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617044 ms (missed cycles : 3).[0m ×2 + 8.41sINFOamclParticle filter update iteration stats: 4166 particles 723 points - 7.961ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791866 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791866 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 3097 particles 723 points - 4.541ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114518 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114518 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 3.130ms + 10.80sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.348ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224298 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224298 ms (missed cycles : 2).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507022 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507022 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473388 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473388 ms (missed cycles : 3).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658099 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658099 ms (missed cycles : 3).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620052 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620052 ms (missed cycles : 3).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344513 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344513 ms (missed cycles : 3).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757006 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757006 ms (missed cycles : 3).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218711 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218711 ms (missed cycles : 2).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370005 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370005 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668623 ms (missed cycles : 3). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668623 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409362 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409362 ms (missed cycles : 3).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528407 ms (missed cycles : 3). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528407 ms (missed cycles : 3).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898808 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898808 ms (missed cycles : 2).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155759 ms (missed cycles : 2). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155759 ms (missed cycles : 2).[0m ×2 + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022353 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022353 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881911 ms (missed cycles : 2). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881911 ms (missed cycles : 2).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544479 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544479 ms (missed cycles : 3).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788627 ms (missed cycles : 2). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788627 ms (missed cycles : 2).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547558 ms (missed cycles : 4). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547558 ms (missed cycles : 4).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104905 ms (missed cycles : 4). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104905 ms (missed cycles : 4).[0m ×2 + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373175 ms (missed cycles : 3). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373175 ms (missed cycles : 3).[0m ×2 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884084 ms (missed cycles : 2). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884084 ms (missed cycles : 2).[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419415 ms (missed cycles : 4). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419415 ms (missed cycles : 4).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396661 ms (missed cycles : 4). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396661 ms (missed cycles : 4).[0m ×2 + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484186 ms (missed cycles : 2). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484186 ms (missed cycles : 2).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027853 ms (missed cycles : 2). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027853 ms (missed cycles : 2).[0m ×2 + 38.11sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.01sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 39.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1785693114.78856134 seconds ×3 + 39.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.858ms + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037841 ms (missed cycles : 2). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037841 ms (missed cycles : 2).[0m ×2 + 39.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.095ms + 39.70sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785693115.47198033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.857ms + 40.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 40.07sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 40.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.865ms + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443442 ms (missed cycles : 2). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443442 ms (missed cycles : 2).[0m ×2 + 40.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.291ms + 40.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 41.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.203ms + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912634 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912634 ms (missed cycles : 3).[0m ×2 + 41.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.474ms + 41.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 35.0s | 9 errors · 117 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898759 ms (missed cycles : 3).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 2.589ms + 0.67sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.882ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586084 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586084 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156859 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156859 ms (missed cycles : 4).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422697 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422697 ms (missed cycles : 4).[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 4.03sINFOobjective_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 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sERRORobjective_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: 1785693125.66209388 seconds ×3 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 2.645ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140309 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140309 ms (missed cycles : 3).[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.454ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.976ms + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785693126.22066474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.896ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327764 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327764 ms (missed cycles : 3).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.640ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.139ms + 6.07sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 5.468ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707990 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707990 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 5.429ms + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.67sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.903ms + 6.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.27sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.780ms + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710814 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710814 ms (missed cycles : 3).[0m ×2 + 7.57sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.129ms + 7.87sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.791ms + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279742 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279742 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127888 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127888 ms (missed cycles : 2).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 10.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819067 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819067 ms (missed cycles : 2).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 11.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840555 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840555 ms (missed cycles : 3).[0m ×2 + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 12.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185186 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185186 ms (missed cycles : 3).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970670 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970670 ms (missed cycles : 3).[0m ×2 + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763663 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763663 ms (missed cycles : 3).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784834 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784834 ms (missed cycles : 3).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453226 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453226 ms (missed cycles : 3).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451226 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451226 ms (missed cycles : 3).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721970 ms (missed cycles : 4). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721970 ms (missed cycles : 4).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320389 ms (missed cycles : 4). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320389 ms (missed cycles : 4).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695407 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695407 ms (missed cycles : 3).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741618 ms (missed cycles : 3). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741618 ms (missed cycles : 3).[0m ×2 + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871127 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871127 ms (missed cycles : 2).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044429 ms (missed cycles : 5). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044429 ms (missed cycles : 5).[0m ×2 + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781457 ms (missed cycles : 3). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781457 ms (missed cycles : 3).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 26.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520638 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520638 ms (missed cycles : 3).[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561696 ms (missed cycles : 4). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561696 ms (missed cycles : 4).[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850929 ms (missed cycles : 2). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850929 ms (missed cycles : 2).[0m ×2 + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688714 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688714 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707692 ms (missed cycles : 3). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707692 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010271 ms (missed cycles : 2). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010271 ms (missed cycles : 2).[0m ×2 + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165464 ms (missed cycles : 4). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165464 ms (missed cycles : 4).[0m ×2 + 33.99sINFOjoint_trajectory_controllerGoal reached, success! + 33.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430473 ms (missed cycles : 6). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430473 ms (missed cycles : 6).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111093 ms (missed cycles : 4). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111093 ms (missed cycles : 4).[0m ×2 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570375 ms (missed cycles : 2). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570375 ms (missed cycles : 2).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009650 ms (missed cycles : 3). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009650 ms (missed cycles : 3).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633373 ms (missed cycles : 4). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633373 ms (missed cycles : 4).[0m ×2 + 39.02sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 39.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785693160.63082027 seconds ×3 + 39.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.069ms + 39.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 39.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 39.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 40.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 40.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 41.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms | ||||
| ✕ failed | Take Scene Camera Snapshot | take_snap.xml | 5.6s | 6 errors · 36 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448501 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448501 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.325ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911347 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.033ms + 1.63sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.624ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800044 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800044 ms (missed cycles : 3).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.083ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.645ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138181 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138181 ms (missed cycles : 2).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785693236.46959209 seconds ×3 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.040ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138977 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138977 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693237.05911398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.80sINFOmove_groupClearing octomap...[0m ×2 + 4.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.057ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.280ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483329 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483329 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554148 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554148 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770260 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770260 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009808 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009808 ms (missed cycles : 3).[0m ×2 + 9.84sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/scene_camera/points': Timed out after 5 seconds. ×3 + 9.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Take Scene Camera Snapshot` did not succeed at time: 1785693242.10927367 seconds ×3 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.780ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.477ms + 10.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693242.74850202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645399 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645399 ms (missed cycles : 3).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.484ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.490ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.215ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.995ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550727 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550727 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 183 warnings · 162 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692980.76425791 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692981.32940149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeFound path in 0 iterations (3.4125e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.78sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.78sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.78sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.78sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108067 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108067 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785692984.59952879 seconds ×3 + 4.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785692985.15039682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065916 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645717 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645717 ms (missed cycles : 4).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178600 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178600 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586811 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586811 ms (missed cycles : 3).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.925ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092042 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092042 ms (missed cycles : 2).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.744ms + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581103 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581103 ms (missed cycles : 3).[0m ×2 + 10.16sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.939ms + 10.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 11.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968714 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968714 ms (missed cycles : 3).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 12.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574669 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574669 ms (missed cycles : 3).[0m ×2 + 13.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 13.17sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794415 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794415 ms (missed cycles : 3).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 14.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154305 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154305 ms (missed cycles : 2).[0m ×2 + 14.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 15.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503973 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503973 ms (missed cycles : 4).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms ×2 + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213764 ms (missed cycles : 4). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213764 ms (missed cycles : 4).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801947 ms (missed cycles : 3). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801947 ms (missed cycles : 3).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760062 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760062 ms (missed cycles : 3).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091039 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091039 ms (missed cycles : 2).[0m ×2 + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 20.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348642 ms (missed cycles : 4). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348642 ms (missed cycles : 4).[0m ×2 + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188001 ms (missed cycles : 3). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188001 ms (missed cycles : 3).[0m ×2 + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388800 ms (missed cycles : 4). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388800 ms (missed cycles : 4).[0m ×2 + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613696 ms (missed cycles : 3). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613696 ms (missed cycles : 3).[0m ×2 + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639352 ms (missed cycles : 4). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639352 ms (missed cycles : 4).[0m ×2 + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852750 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852750 ms (missed cycles : 3).[0m ×2 + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612299 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612299 ms (missed cycles : 2).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106978 ms (missed cycles : 4). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106978 ms (missed cycles : 4).[0m ×2 + 28.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643986 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643986 ms (missed cycles : 3).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008447 ms (missed cycles : 4). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008447 ms (missed cycles : 4).[0m ×2 + 31.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196398 ms (missed cycles : 2). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196398 ms (missed cycles : 2).[0m ×2 + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032269 ms (missed cycles : 5). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032269 ms (missed cycles : 5).[0m ×2 + 33.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 33.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992567 ms (missed cycles : 3). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992567 ms (missed cycles : 3).[0m ×2 + 34.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223154 ms (missed cycles : 4). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223154 ms (missed cycles : 4).[0m ×2 + 35.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.117ms + 35.84sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.84sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274484 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274484 ms (missed cycles : 4).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477777 ms (missed cycles : 3). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477777 ms (missed cycles : 3).[0m ×2 + 38.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536123 ms (missed cycles : 3). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536123 ms (missed cycles : 3).[0m ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940346 ms (missed cycles : 5). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940346 ms (missed cycles : 5).[0m ×2 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749091 ms (missed cycles : 5). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749091 ms (missed cycles : 5).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200368 ms (missed cycles : 4). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200368 ms (missed cycles : 4).[0m ×2 + 42.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731242 ms (missed cycles : 3). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731242 ms (missed cycles : 3).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597605 ms (missed cycles : 3). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597605 ms (missed cycles : 3).[0m ×2 + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844206 ms (missed cycles : 3). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844206 ms (missed cycles : 3).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403033 ms (missed cycles : 3). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403033 ms (missed cycles : 3).[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349672 ms (missed cycles : 3). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349672 ms (missed cycles : 3).[0m ×2 + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153342 ms (missed cycles : 4). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153342 ms (missed cycles : 4).[0m ×2 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595997 ms (missed cycles : 3). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595997 ms (missed cycles : 3).[0m ×2 + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231783 ms (missed cycles : 2). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231783 ms (missed cycles : 2).[0m ×2 + 50.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 50.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671318 ms (missed cycles : 2). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671318 ms (missed cycles : 2).[0m ×2 + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785090 ms (missed cycles : 3). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785090 ms (missed cycles : 3).[0m ×2 + 52.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418089 ms (missed cycles : 4). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418089 ms (missed cycles : 4).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943283 ms (missed cycles : 3). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943283 ms (missed cycles : 3).[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343272 ms (missed cycles : 3). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343272 ms (missed cycles : 3).[0m ×2 + 56.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853317 ms (missed cycles : 3). + 56.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853317 ms (missed cycles : 3).[0m ×2 + 56.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 57.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387981 ms (missed cycles : 4). + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387981 ms (missed cycles : 4).[0m ×2 + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 59.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 59.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 60.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 61.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 61.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 61.50sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 61.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 62.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 62.43sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 62.46sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 62.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 63.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 63.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 63.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 183 warnings · 158 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.46sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.46sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074202 ms (missed cycles : 4). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074202 ms (missed cycles : 4).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452746 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452746 ms (missed cycles : 3).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.816ms + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876832 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876832 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.835ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.558ms + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999681 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999681 ms (missed cycles : 3).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 6.025ms + 12.00sINFOamclParticle filter update iteration stats: 3378 particles 723 points - 6.897ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792096 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792096 ms (missed cycles : 2).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 3.901ms + 12.71sINFOros2_control_nodeMuJoCo sim: 0.78% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 3.415ms + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420131 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420131 ms (missed cycles : 4).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 4.162ms + 13.99sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 2.320ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683495 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683495 ms (missed cycles : 3).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.607ms + 14.99sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 2.321ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826435 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826435 ms (missed cycles : 3).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.517ms + 15.99sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.400ms + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424394 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424394 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120673 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120673 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889544 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889544 ms (missed cycles : 3).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384694 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384694 ms (missed cycles : 3).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119656 ms (missed cycles : 4). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119656 ms (missed cycles : 4).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921695 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921695 ms (missed cycles : 2).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169536 ms (missed cycles : 3). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169536 ms (missed cycles : 3).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766882 ms (missed cycles : 3). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766882 ms (missed cycles : 3).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031177 ms (missed cycles : 4). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031177 ms (missed cycles : 4).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499075 ms (missed cycles : 4). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499075 ms (missed cycles : 4).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938869 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938869 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279327 ms (missed cycles : 4). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279327 ms (missed cycles : 4).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 29.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313685 ms (missed cycles : 3). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313685 ms (missed cycles : 3).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614480 ms (missed cycles : 2). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614480 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720726 ms (missed cycles : 5). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720726 ms (missed cycles : 5).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095939 ms (missed cycles : 4). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095939 ms (missed cycles : 4).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368052 ms (missed cycles : 4). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368052 ms (missed cycles : 4).[0m ×2 + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810245 ms (missed cycles : 4). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810245 ms (missed cycles : 4).[0m ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350963 ms (missed cycles : 3). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350963 ms (missed cycles : 3).[0m ×2 + 35.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.70sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125452 ms (missed cycles : 4). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125452 ms (missed cycles : 4).[0m ×2 + 36.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651284 ms (missed cycles : 3). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651284 ms (missed cycles : 3).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852416 ms (missed cycles : 2). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852416 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076580 ms (missed cycles : 4). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076580 ms (missed cycles : 4).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702551 ms (missed cycles : 3). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702551 ms (missed cycles : 3).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381421 ms (missed cycles : 3). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381421 ms (missed cycles : 3).[0m ×2 + 42.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011064 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011064 ms (missed cycles : 2).[0m ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307607 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307607 ms (missed cycles : 2).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420312 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420312 ms (missed cycles : 3).[0m ×2 + 45.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202512 ms (missed cycles : 2). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202512 ms (missed cycles : 2).[0m ×2 + 47.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703336 ms (missed cycles : 2). + 47.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703336 ms (missed cycles : 2).[0m ×2 + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890223 ms (missed cycles : 3). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890223 ms (missed cycles : 3).[0m ×2 + 49.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327601 ms (missed cycles : 4). + 49.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327601 ms (missed cycles : 4).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192314 ms (missed cycles : 3). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192314 ms (missed cycles : 3).[0m ×2 + 51.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022090 ms (missed cycles : 4). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022090 ms (missed cycles : 4).[0m ×2 + 52.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863205 ms (missed cycles : 2). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863205 ms (missed cycles : 2).[0m ×2 + 54.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235454 ms (missed cycles : 2). + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235454 ms (missed cycles : 2).[0m ×2 + 55.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569550 ms (missed cycles : 3). + 55.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569550 ms (missed cycles : 3).[0m ×2 + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735420 ms (missed cycles : 5). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735420 ms (missed cycles : 5).[0m ×2 + 56.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690794 ms (missed cycles : 3). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690794 ms (missed cycles : 3).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704717 ms (missed cycles : 2). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704717 ms (missed cycles : 2).[0m ×2 + 59.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712863 ms (missed cycles : 3). + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712863 ms (missed cycles : 3).[0m ×2 + 60.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 60.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591095 ms (missed cycles : 3). + 60.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591095 ms (missed cycles : 3).[0m ×2 + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359853 ms (missed cycles : 4). + 61.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785693222.54572129 seconds ×3 + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359853 ms (missed cycles : 4).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.343ms + 61.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.846ms + 61.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 61.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785693223.10907245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 62.34sINFOobjective_server_nodeFound path in 0 iterations (5.34e-07 s). ×2 + 62.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905502 ms (missed cycles : 3). + 62.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905502 ms (missed cycles : 3).[0m ×2 + 62.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 63.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.831ms + 63.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788922 ms (missed cycles : 3). + 63.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788922 ms (missed cycles : 3).[0m ×2 + 64.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.347ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 141 warnings · 142 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.27sINFOmove_groupClearing octomap...[0m ×2 + 1.27sINFOmove_groupOctomap cleared.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 4.83sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157928 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157928 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268413 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268413 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819754 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819754 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504279 ms (missed cycles : 3). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504279 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625087 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625087 ms (missed cycles : 3).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660377 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660377 ms (missed cycles : 2).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679742 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679742 ms (missed cycles : 3).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690491 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690491 ms (missed cycles : 2).[0m ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432035 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432035 ms (missed cycles : 3).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206760 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206760 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400749 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400749 ms (missed cycles : 4).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027028 ms (missed cycles : 4). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027028 ms (missed cycles : 4).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735336 ms (missed cycles : 2). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735336 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.614ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018453 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018453 ms (missed cycles : 3).[0m ×2 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393243 ms (missed cycles : 3). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393243 ms (missed cycles : 3).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539508 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539508 ms (missed cycles : 2).[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247610 ms (missed cycles : 4). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247610 ms (missed cycles : 4).[0m ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128442 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128442 ms (missed cycles : 3).[0m ×2 + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329370 ms (missed cycles : 2). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329370 ms (missed cycles : 2).[0m ×2 + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044882 ms (missed cycles : 2). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044882 ms (missed cycles : 2).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932981 ms (missed cycles : 3). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932981 ms (missed cycles : 3).[0m ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471392 ms (missed cycles : 3). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471392 ms (missed cycles : 3).[0m ×2 + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800332 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800332 ms (missed cycles : 3).[0m ×2 + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800798 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800798 ms (missed cycles : 3).[0m ×2 + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892815 ms (missed cycles : 2). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892815 ms (missed cycles : 2).[0m ×2 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684806 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684806 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234115 ms (missed cycles : 3). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234115 ms (missed cycles : 3).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650214 ms (missed cycles : 3). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650214 ms (missed cycles : 3).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370450 ms (missed cycles : 3). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370450 ms (missed cycles : 3).[0m ×2 + 37.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964022 ms (missed cycles : 2). + 37.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964022 ms (missed cycles : 2).[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820522 ms (missed cycles : 2). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820522 ms (missed cycles : 2).[0m ×2 + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751399 ms (missed cycles : 2). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751399 ms (missed cycles : 2).[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929130 ms (missed cycles : 2). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929130 ms (missed cycles : 2).[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675981 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675981 ms (missed cycles : 2).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500044 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500044 ms (missed cycles : 2).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3).[0m ×2 + 46.84sINFOjoint_trajectory_controllerGoal reached, success! + 46.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692980.76425791 seconds ×3 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2).[0m ×2 + 47.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692981.32940149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3).[0m ×2 + 48.58sINFOobjective_server_nodeFound path in 0 iterations (3.4125e-05 s). ×2 + 48.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.9s | 108 warnings · 123 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595018 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595018 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535560 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535560 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.54sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785693046.89736366 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753241 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753241 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.870ms + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785693048.45360160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299165 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299165 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648982 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648982 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074570 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074570 ms (missed cycles : 4).[0m ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747688 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747688 ms (missed cycles : 3).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498864 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498864 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.564ms + 9.55sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529124 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529124 ms (missed cycles : 3).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.135ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754968 ms (missed cycles : 4). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754968 ms (missed cycles : 4).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.806ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.918ms + 11.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.079ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463872 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463872 ms (missed cycles : 3).[0m ×2 + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.783ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014955 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014955 ms (missed cycles : 3).[0m ×2 + 13.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.758ms + 13.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326169 ms (missed cycles : 4). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326169 ms (missed cycles : 4).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 14.94sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 5.670ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761744 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761744 ms (missed cycles : 3).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 3710 particles 723 points - 4.940ms + 15.94sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 3.919ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785498 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785498 ms (missed cycles : 2).[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 4.594ms + 16.94sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.205ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805991 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805991 ms (missed cycles : 3).[0m ×2 + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931741 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931741 ms (missed cycles : 3).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692763 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692763 ms (missed cycles : 3).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673361 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673361 ms (missed cycles : 3).[0m ×2 + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483319 ms (missed cycles : 4). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483319 ms (missed cycles : 4).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967331 ms (missed cycles : 2). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967331 ms (missed cycles : 2).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms ×2 + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170570 ms (missed cycles : 3). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170570 ms (missed cycles : 3).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609991 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609991 ms (missed cycles : 3).[0m ×2 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406552 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406552 ms (missed cycles : 3).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305543 ms (missed cycles : 4). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305543 ms (missed cycles : 4).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498056 ms (missed cycles : 4). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498056 ms (missed cycles : 4).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947272 ms (missed cycles : 3). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947272 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369882 ms (missed cycles : 4). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369882 ms (missed cycles : 4).[0m ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734027 ms (missed cycles : 5). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734027 ms (missed cycles : 5).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3).[0m ×2 + 33.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 34.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3). + 34.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3).[0m ×2 + 35.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785693079.76374054 seconds ×3 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859268 ms (missed cycles : 3). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859268 ms (missed cycles : 3).[0m ×2 + 35.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.940ms + 36.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785693080.33835864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.034ms + 36.44sINFOobjective_server_nodeFound path in 0 iterations (6.86e-07 s). ×2 + 36.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2).[0m ×2 + 36.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.713ms + 36.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 37.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 37.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.569ms + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3).[0m ×2 + 37.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.372ms + 38.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.592ms + 38.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 14.4s | 93 errors · 42 warnings · 357 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554148 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554148 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770260 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770260 ms (missed cycles : 3).[0m ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009808 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009808 ms (missed cycles : 3).[0m ×2 + 4.23sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/scene_camera/points': Timed out after 5 seconds. ×3 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Take Scene Camera Snapshot` did not succeed at time: 1785693242.10927367 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.780ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.477ms + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693242.74850202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645399 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645399 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.484ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.490ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.215ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.995ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550727 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550727 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569561 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569561 ms (missed cycles : 3).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097127 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097127 ms (missed cycles : 2).[0m ×2 + 8.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785693246.61863208 seconds ×3 + 8.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201288 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201288 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742039 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742039 ms (missed cycles : 3).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814754 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814754 ms (missed cycles : 3).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891210 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891210 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411675 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411675 ms (missed cycles : 3).[0m ×2 + 14.42sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.43sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.43sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.44sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.44sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.45sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.45sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 14.48sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.49sERRORweb_video_auth_proxy-34process has died [pid 10548, 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 + 14.49sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.49sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.49sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.50sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.50sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 14.52sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.52sERRORweb_bridge_auth_proxy-33process has died [pid 10547, 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 + 14.52sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.53sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.53sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.54sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.54sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.54sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.55sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.55sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.55sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.56sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 14.56sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 14.58sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 14.61sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 14.64sINFOvideo_server-32process has finished cleanly [pid 10546] ×2 + 14.65sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 14.68sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 14.70sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 14.72sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 14.75sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 14.78sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 14.81sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 14.83sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 14.83sINFOtf2_web_republisher_node-31process has finished cleanly [pid 10545] ×2 + 14.84sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 14.87sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 14.89sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750091 ms (missed cycles : 4). + 14.93sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 14.93sINFOcontroller_managerShutdown request received.... + 14.93sINFOcontroller_managerShutting down all controllers in the controller manager. + 14.93sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 14.93sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 14.93sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 14.93sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 14.93sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 14.93sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 14.93sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 14.93sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 14.93sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 14.93sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 14.93sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 14.93sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 14.93sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 14.93sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 14.93sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 14.93sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 14.93sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 14.93sINFOcontroller_managerShutting down the controller manager. + 14.96sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 14.96sERRORui_teleop_bridge-29process has died [pid 10543, 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_711d6dos']. ×2 + 14.96sERRORmove_group-20process has died [pid 10532, 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_dh5m834s --params-file /tmp/launch_params_jsexemyd --params-file /tmp/launch_params_xgfg2liq --params-file /tmp/launch_params_k4tw99sa --params-file /tmp/launch_params_k2xet9kr --params-file /tmp/launch_params_lny2uyw9']. ×2 + 14.98sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 14.98sINFOcomponent_container_mt-27process has finished cleanly [pid 10541] ×2 + 15.01sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 15.03sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 15.04sINFOexecute_objective_bridge-28process has finished cleanly [pid 10542] ×2 + 15.06sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 15.06sERRORobjective_server_node_main-25process has died [pid 10539, 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_44t9cusk --params-file /tmp/launch_params_hfobfw7s --params-file /tmp/launch_params_vt1vkiur --params-file /tmp/launch_params_jl36zf9r --params-file /tmp/launch_params_a70d5xlr --params-file /tmp/launch_params_amty4bfi --params-file /tmp/launch_params_537hdki4 --params-file /tmp/launch_params_e6770ktf --params-file /tmp/launch_params_5w51f0gy']. ×2 + 15.08sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 15.08sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 15.08sINFOmap_serverDeactivating + 15.08sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 15.08sINFOvideo_server2026/08/02 17:54:12 INF shutting down gracefully ×2 + 15.08sINFOvideo_server2026/08/02 17:54:12 INF [WebRTC] closing ×2 + 15.08sINFOvideo_server2026/08/02 17:54:12 INF [RTSP] closing ×2 + 15.08sINFOvideo_server2026/08/02 17:54:12 INF waiting for running hooks ×2 + 15.08sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.08sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.08sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 15.08sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 15.08sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 15.08sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 15.08sINFOui_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 + 15.08sINFOui_teleop_bridgerclpy.shutdown() ×2 + 15.08sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 15.08sINFOui_teleop_bridge_shutdown(context=context) ×2 + 15.08sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 15.08sINFOui_teleop_bridgecontext.shutdown() ×2 + 15.08sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 15.08sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 15.08sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 15.08sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 15.08sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.08sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 15.08sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.09sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.09sINFOmap_serverCleaning up + 15.09sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 15.09sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 15.09sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 15.09sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 15.09sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.09sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.09sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.09sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 15.09sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 15.09sERRORmove_groupStack trace (most recent call last) in thread 11094: ×2 + 15.09sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 15.09sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f8241a63, in __clone ×2 + 15.09sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f81b4aa3, in ×2 + 15.09sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f91f8446db3, in ×2 + 15.09sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f91f8bb2ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 15.09sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f87d8620, in rclcpp::Rate::sleep() ×2 + 15.09sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f871ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 15.09sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f86dc087, in ×2 + 15.09sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f91f8415390, in __cxa_throw ×2 + 15.09sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f91f83ffa54, in std::terminate() ×2 + 15.09sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f91f84150d9, in ×2 + 15.09sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f91f83ffff4, in ×2 + 15.09sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f81408fe, in abort ×2 + 15.09sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f815d27d, in raise ×2 + 15.09sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f81b6b2c, in pthread_kill ×2 + 15.09sERRORmove_groupAborted (Signal sent by tkill() 10532 0) ×2 + 15.09sINFOobjective_server_node[2026-08-02 17:54:12.800] [moveit_pro_license] [info] ×2 + 15.09sINFOobjective_server_node************************************************* ×4 + 15.09sINFOobjective_server_node* MoveIt Pro License ×2 + 15.09sINFOobjective_server_node* Application has successfully terminated ×2 + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750091 ms (missed cycles : 4).[0m ×2 + 15.10sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 15.10sINFOros2_control_nodeShutdown request received....[0m ×2 + 15.10sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 15.10sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 15.10sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 15.10sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 15.10sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 15.10sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 15.10sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 15.10sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 15.10sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 15.10sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 15.10sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 15.10sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 15.10sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 15.10sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 15.10sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 15.10sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 15.10sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 15.10sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55adb81d56a4, in _start ×2 + 15.10sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f225407728a, in __libc_start_main ×2 + 15.10sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22540771d0, in ×2 + 15.10sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2254094bbd, in exit ×2 + 15.10sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2254094a75, in ×2 + 15.10sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f22545638f5, in spdlog::details::registry::~registry() ×2 + 15.10sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55adb81d5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 15.10sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55adb81dc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 15.10sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55adb81db5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 15.10sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55adb81d7b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 15.10sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55adb81d5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 15.10sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2254c3b294, in rclcpp::Node::~Node() ×2 + 15.10sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2254be5485, in ×2 + 15.10sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2254c39b60, in ×2 + 15.10sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2254c39aa3, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 15.10sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2254be5549, in ×2 + 15.10sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2254be9ba1, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 15.10sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f221d85b930]) ×2 + 15.10sERRORamclThe bond connection to the lifecycle manager has been broken + 15.11sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 15.11sINFOodom_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 + 15.11sINFOodom_qos_relay.pymain() ×2 + 15.11sINFOodom_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 + 15.11sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 15.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 15.11sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 15.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 15.11sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 15.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 15.11sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 15.11sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 15.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 15.11sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 15.11sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 15.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 15.11sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 15.11sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 15.11sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 15.11sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 15.14sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 15.14sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 15.15sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 15.30sERRORcomponent_container_isolated-2process has died [pid 10419, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_ucsvaa2c --params-file /tmp/launch_params_i4oayy70 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 15.83sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10538] ×2 + 15.86sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10535] ×2 + 15.92sINFOparameter_manager_node-21process has finished cleanly [pid 10533] ×2 + 15.93sINFOwaypoint_manager_node-22process has finished cleanly [pid 10534] ×2 + 15.95sINFOcomponent_container_mt-26process has finished cleanly [pid 10540] ×2 + 16.00sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10424] ×2 + 16.02sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10423] ×2 + 16.07sINFOstatic_transform_publisher-4process has finished cleanly [pid 10421] ×2 + 16.09sINFOstatic_transform_publisher-3process has finished cleanly [pid 10420] ×2 + 16.10sERRORodom_qos_relay.py-5process has died [pid 10422, 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 + 17.46sINFOweb_bridge-30process has finished cleanly [pid 10544] ×2 + 17.46sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 17.65sINFOros2_control_node-8process has finished cleanly [pid 10425] ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.9s | 60 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690794 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690794 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704717 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704717 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712863 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712863 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591095 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591095 ms (missed cycles : 3).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359853 ms (missed cycles : 4). + 4.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785693222.54572129 seconds ×3 + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359853 ms (missed cycles : 4).[0m ×2 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.343ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.846ms + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 4.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785693223.10907245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 5.17sINFOobjective_server_nodeFound path in 0 iterations (5.34e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905502 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905502 ms (missed cycles : 3).[0m ×2 + 5.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 5.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.831ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788922 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788922 ms (missed cycles : 3).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.347ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141845 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141845 ms (missed cycles : 2).[0m ×2 + 8.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054053 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054053 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759255 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759255 ms (missed cycles : 2).[0m ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (1.156e-06 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 9.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 9.95sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 10.29sINFOobjective_server_nodeFound path in 29 iterations (0.0509227 s). ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774811 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774811 ms (missed cycles : 2).[0m ×2 + 10.75sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.37sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711009 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711009 ms (missed cycles : 3).[0m ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.10sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756479 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756479 ms (missed cycles : 3).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448501 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448501 ms (missed cycles : 3).[0m ×2 + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.325ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911347 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911347 ms (missed cycles : 3).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.033ms + 15.53sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.624ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800044 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800044 ms (missed cycles : 3).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.083ms + 17.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.645ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138181 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138181 ms (missed cycles : 2).[0m ×2 + 18.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785693236.46959209 seconds ×3 + 18.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.040ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138977 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138977 ms (missed cycles : 2).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 18.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693237.05911398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.71sINFOmove_groupClearing octomap...[0m ×2 + 18.71sINFOmove_groupOctomap cleared.[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.057ms + 19.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.280ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483329 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483329 ms (missed cycles : 3).[0m ×2 + 19.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 20.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 9 errors · 48 warnings · 92 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396661 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396661 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484186 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484186 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027853 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027853 ms (missed cycles : 2).[0m ×2 + 2.19sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1785693114.78856134 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.858ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037841 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037841 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.095ms + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785693115.47198033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.857ms + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.865ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443442 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443442 ms (missed cycles : 2).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.291ms + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.203ms + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912634 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912634 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.474ms + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.951ms + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984986 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984986 ms (missed cycles : 2).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.235ms + 7.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.695ms + 7.39sINFOamclParticle filter update iteration stats: 4787 particles 723 points - 5.716ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822121 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822121 ms (missed cycles : 2).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 3938 particles 723 points - 7.499ms + 8.09sINFOamclParticle filter update iteration stats: 2920 particles 723 points - 5.096ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742161 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742161 ms (missed cycles : 3).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 2.945ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898759 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898759 ms (missed cycles : 3).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 2.589ms + 10.58sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.882ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586084 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586084 ms (missed cycles : 3).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156859 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156859 ms (missed cycles : 4).[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 13.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422697 ms (missed cycles : 4). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422697 ms (missed cycles : 4).[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 13.94sINFOobjective_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 + 13.95sINFOjoint_trajectory_controllerGot request to cancel goal + 13.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.97sERRORobjective_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: 1785693125.66209388 seconds ×3 + 14.08sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 2.645ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140309 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140309 ms (missed cycles : 3).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.454ms + 14.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.976ms + 14.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785693126.22066474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 15.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.896ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327764 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327764 ms (missed cycles : 3).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.640ms + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.139ms + 15.99sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 5.468ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707990 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707990 ms (missed cycles : 3).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 5.429ms + 16.58sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.903ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 33 warnings · 57 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 6.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595018 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595018 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535560 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535560 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785693046.89736366 seconds ×3 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753241 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753241 ms (missed cycles : 2).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.870ms + 9.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785693048.45360160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299165 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299165 ms (missed cycles : 2).[0m ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648982 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648982 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.6s | 6 errors · 33 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111093 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111093 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570375 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570375 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009650 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009650 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633373 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633373 ms (missed cycles : 4).[0m ×2 + 3.34sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785693160.63082027 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.069ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 3.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 4.35sINFOjoint_trajectory_controllerReceived new action goal + 4.35sINFOjoint_trajectory_controllerAccepted new action goal + 4.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 7.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 7.96sINFOjoint_trajectory_controllerGoal reached, success! + 7.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500044 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.62sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692980.76425791 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692981.32940149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (3.4125e-05 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108067 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108067 ms (missed cycles : 3).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785692984.59952879 seconds ×3 + 8.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785692985.15039682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065916 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065916 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645717 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645717 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692980.76425791 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692981.32940149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeFound path in 0 iterations (3.4125e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.78sINFOjoint_trajectory_controllerReceived new action goal + 1.78sINFOjoint_trajectory_controllerAccepted new action goal + 1.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108067 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108067 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785692984.59952879 seconds ×3 + 4.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785692985.15039682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065916 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645717 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645717 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785693079.76374054 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_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 4.859268 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859268 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.940ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785693080.33835864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.034ms + 5.01sINFOobjective_server_nodeFound path in 0 iterations (6.86e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.713ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.569ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.372ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.592ms + 6.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785693079.76374054 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_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 4.859268 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859268 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.940ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785693080.33835864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.034ms + 5.01sINFOobjective_server_nodeFound path in 0 iterations (6.86e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.713ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.569ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.372ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.592ms + 6.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334561 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254229 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667860 ms (missed cycles : 3).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785693079.76374054 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_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 4.859268 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859268 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.940ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785693080.33835864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.034ms + 5.01sINFOobjective_server_nodeFound path in 0 iterations (6.86e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493641 ms (missed cycles : 2).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.713ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.569ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889402 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.372ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.592ms + 6.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448501 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448501 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.325ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911347 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.033ms + 1.63sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.624ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800044 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800044 ms (missed cycles : 3).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.083ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.645ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138181 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138181 ms (missed cycles : 2).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785693236.46959209 seconds ×3 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.040ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138977 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138977 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693237.05911398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.80sINFOmove_groupClearing octomap...[0m ×2 + 4.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.057ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.280ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483329 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483329 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164643 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.27sINFOmove_groupClearing octomap...[0m ×2 + 1.27sINFOmove_groupOctomap cleared.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 4.83sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157928 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157928 ms (missed cycles : 2).[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 2.500044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500044 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692980.76425791 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692981.32940149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (3.4125e-05 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3).[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 2.500044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500044 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171365 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466158 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872826 ms (missed cycles : 3).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692980.76425791 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766067 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692981.32940149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506243 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (3.4125e-05 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947310 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094082 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005700 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976152 ms (missed cycles : 3).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693367 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785693042.21053100 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.998ms + 3.75sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785693042.77724075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441853 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117244 ms (missed cycles : 2).[0m ×2 + 5.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_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 · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_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 · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785693161.23760653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081842 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.46sINFOjoint_trajectory_controllerAccepted new action goal + 0.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139246 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.015ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019307 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785693165.29774213 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929248 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785693165.86112785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614071 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758452 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.8s | 67 errors · 692 warnings · 1908 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-02-17-42-32-896168-262c92f73f88-9289 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.19sINFOros2_control_node-8process started with pid [9346] + 14.22sINFOmove_group-20process started with pid [9453] + 14.22sINFOparameter_manager_node-21process started with pid [9454] + 14.22sINFOwaypoint_manager_node-22process started with pid [9455] + 14.22sINFOmove_joint_resampler_node-23process started with pid [9456] + 14.22sINFOmove_end_effector_resampler_node-24process started with pid [9457] + 14.22sINFOobjective_server_node_main-25process started with pid [9458] + 14.22sINFOcomponent_container_mt-26process started with pid [9459] + 14.22sINFOcomponent_container_mt-27process started with pid [9460] + 14.23sINFOexecute_objective_bridge-28process started with pid [9463] + 14.23sINFOui_teleop_bridge-29process started with pid [9464] + 14.23sINFOweb_bridge-30process started with pid [9465] + 14.23sINFOtf2_web_republisher_node-31process started with pid [9466] + 14.23sINFOvideo_server-32process started with pid [9467] + 14.23sINFOweb_bridge_auth_proxy-33process started with pid [9472] + 14.24sINFOweb_video_auth_proxy-34process started with pid [9484] + 14.27sINFOcomponent_container_isolated-1process started with pid [9339] + 14.27sINFOcomponent_container_isolated-2process started with pid [9340] + 14.27sINFOstatic_transform_publisher-3process started with pid [9341] + 14.27sINFOstatic_transform_publisher-4process started with pid [9342] + 14.27sINFOodom_qos_relay.py-5process started with pid [9343] + 14.27sINFOscan_to_scan_filter_chain-6process started with pid [9344] + 14.27sINFOscan_to_scan_filter_chain-7process started with pid [9345] + 14.27sINFOros2-9process started with pid [9424] + 14.28sINFOros2-10process started with pid [9425] + 14.28sINFOros2-11process started with pid [9426] + 14.28sINFOros2-12process started with pid [9427] + 14.28sINFOros2-13process started with pid [9430] + 14.28sINFOros2-14process started with pid [9447] + 14.28sINFOros2-15process started with pid [9448] + 14.28sINFOros2-16process started with pid [9449] + 14.28sINFOros2-17process started with pid [9450] + 14.28sINFOros2-18process started with pid [9451] + 14.28sINFOros2-19process started with pid [9452] + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.42sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.42sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.42sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.42sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.42sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.42sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 14.43sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.43sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.43sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.43sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.43sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.43sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444341 ms (missed cycles : 2).[0m + 14.45sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.47sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.55sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.55sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.55sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.57sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.79sINFOvideo_server2026/08/02 17:42:51 INF MediaMTX v1.19.3, linux, amd64 + 14.79sINFOvideo_server2026/08/02 17:42:51 INF configuration loaded from /tmp/moveit-webrtc-iel647y7/mediamtx.yml + 14.79sINFOvideo_server2026/08/02 17:42:51 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 14.79sINFOvideo_server2026/08/02 17:42:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 14.86sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 14.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.91sINFOmove_groupLoaded robot model in 0.435544 seconds[0m + 14.91sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.91sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 15.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645204 ms (missed cycles : 4).[0m + 15.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.47sINFOwaypoint_manager_nodeLoaded robot model in 0.366121 seconds[0m + 15.47sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.47sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.48sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.49sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.49sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.91sERRORcomponent_container_isolated-1process has died [pid 9339, exit code -8, 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_iommd1am --params-file /tmp/launch_params_5e4wwjkv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. + 15.94sINFOmove_group[2026-08-02 17:42:52.289] [moveit_pro_license] [info] + 15.94sINFOmove_group************************************************* ×6 + 15.94sINFOmove_group* MoveIt Pro License ×3 + 15.94sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.19sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.20sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.21sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.22sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.372493 ms (missed cycles : 8).[0m + 16.35sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.35sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.61sINFOwaypoint_manager_node[2026-08-02 17:42:52.952] [moveit_pro_license] [info] + 16.61sINFOwaypoint_manager_node************************************************* ×6 + 16.61sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.61sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.75sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×12 + 16.89sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 16.89sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 16.89sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 16.90sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.90sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 16.90sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 16.91sINFOmove_groupStarting planning scene monitor[0m ×3 + 16.91sINFOmove_groupListening to '/planning_scene'[0m ×3 + 16.91sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 16.91sINFOmove_groupListening to 'collision_object'[0m ×3 + 16.91sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.16sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.16sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.18sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.54sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.54sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.54sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.54sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.54sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.54sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.54sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.54sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.54sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.54sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.54sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.54sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.56sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685393 ms (missed cycles : 2).[0m + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 17.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 17.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 17.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 17.76sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.76sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 17.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.79sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 17.79sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 17.82sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 17.82sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 17.83sINFOros2_control_nodeconfigure successful[0m ×9 + 17.96sINFOobjective_server_node[2026-08-02 17:42:54.303] [moveit_pro_license] [info] + 17.96sINFOobjective_server_node************************************************* ×8 + 17.96sINFOobjective_server_node* MoveIt Pro License ×4 + 17.96sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.05sINFOobjective_server_nodeLoaded robot model in 0.0258032 seconds[0m + 18.05sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.05sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 18.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 18.12sINFOros2-14process has finished cleanly [pid 9447] + 18.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 18.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 18.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 18.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 18.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 18.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.49sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.49sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.50sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.50sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.50sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.52sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.52sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.55sINFOros2-12process has finished cleanly [pid 9427] + 18.57sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 18.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.59sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.59sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 18.70sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.70sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 18.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.72sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 18.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.72sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 18.97sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 18.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.01sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878499 ms (missed cycles : 5).[0m + 19.10sINFOros2_control_node[2026-08-02 17:42:55.450] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.11sINFOros2_control_node[2026-08-02 17:42:55.453] [info] Controller state will be published at 10 Hz. + 19.11sINFOros2_control_node[2026-08-02 17:42:55.455] [info] VelocityForceController 'on_configure' succeeded. + 19.13sINFOmove_group ×12 + 19.13sINFOmove_group******************************************************** ×6 + 19.13sINFOmove_group* MoveGroup using: ×3 + 19.13sINFOmove_group* - apply_planning_scene_service ×3 + 19.13sINFOmove_group* - clear_octomap_service ×3 + 19.13sINFOmove_group* - get_group_urdf ×3 + 19.13sINFOmove_group* - load_geometry_from_file ×3 + 19.13sINFOmove_group* - get_planning_scene_service ×3 + 19.13sINFOmove_group* - kinematics_service ×3 + 19.13sINFOmove_group* - save_geometry_to_file ×3 + 19.13sINFOmove_group* - GetPlanningGroups ×3 + 19.13sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.13sINFOmove_group[0m ×3 + 19.13sINFOmove_group[92mYou can start planning now![0m ×3 + 19.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 19.44sINFOros2-17process has finished cleanly [pid 9450] + 19.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 19.56sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 19.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.87sINFOcomponent_container_mtLoaded robot model in 2.08208 seconds[0m + 19.87sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 19.87sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 20.00sINFOros2_control_node[2026-08-02 17:42:56.349] [info] Controller state will be published at 20 Hz. + 20.00sINFOros2_control_node[2026-08-02 17:42:56.350] [info] JointVelocityController 'on_configure' succeeded. + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748664 ms (missed cycles : 2).[0m + 20.22sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 20.37sINFOros2-18process has finished cleanly [pid 9451] + 20.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 20.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 20.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 20.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 20.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 20.45sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 20.45sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 20.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 20.45sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 20.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 20.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 20.59sINFOcomponent_container_mt[2026-08-02 17:42:56.935] [moveit_pro_license] [info] + 20.59sINFOcomponent_container_mt************************************************* ×6 + 20.59sINFOcomponent_container_mt* MoveIt Pro License ×3 + 20.59sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 20.76sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 20.92sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 20.92sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 20.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 20.96sINFOros2-15process has finished cleanly [pid 9448] + 20.98sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 20.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 21.00sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 21.02sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 21.02sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 21.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 21.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 21.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 21.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 21.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746996 ms (missed cycles : 3).[0m + 21.32sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 21.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 21.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 21.34sINFOros2-9process has finished cleanly [pid 9424] + 21.40sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 21.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 21.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 21.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 21.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 21.80sINFOros2-11process has finished cleanly [pid 9426] + 22.06sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.06sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.06sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 22.09sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 22.09sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175841 ms (missed cycles : 3).[0m + 22.48sINFOros2_control_node[2026-08-02 17:42:58.825] [info] Controller state will be published at 20 Hz. + 22.48sINFOros2_control_node[2026-08-02 17:42:58.826] [info] JointVelocityController 'on_configure' succeeded. + 22.83sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 22.83sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 22.83sINFOros2-19process has finished cleanly [pid 9452] + 22.83sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 22.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 22.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 22.89sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 22.89sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 22.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 22.90sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 23.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 23.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 23.22sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 23.27sINFOros2-13process has finished cleanly [pid 9430] + 23.29sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 23.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515519 ms (missed cycles : 2).[0m + 23.67sINFOros2_control_node[2026-08-02 17:43:00.015] [warning] No force/torque sensor configured. The VFC will ignore force references. + 23.67sINFOros2_control_node[2026-08-02 17:43:00.017] [info] Controller state will be published at 10 Hz. + 23.67sINFOros2_control_node[2026-08-02 17:43:00.018] [info] VelocityForceController 'on_configure' succeeded. + 24.03sINFOros2-16process has finished cleanly [pid 9449] + 24.04sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 24.04sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 24.05sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro_uslxd --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_k23yeicn --params-file /tmp/launch_params_w_kj7sdy [0m + 24.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 24.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 24.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 24.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 24.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 24.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864221 ms (missed cycles : 2).[0m + 24.59sINFOros2-10process has finished cleanly [pid 9425] + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898838 ms (missed cycles : 3).[0m + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913893 ms (missed cycles : 3).[0m + 27.57sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067704 ms (missed cycles : 2).[0m + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265040 ms (missed cycles : 2).[0m + 29.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692585.74025607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.39sINFOmove_groupClearing octomap...[0m ×4 + 29.40sINFOmove_groupOctomap cleared.[0m ×4 + 29.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692585.75044417 seconds + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054193 ms (missed cycles : 3).[0m + 29.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692586.31553578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692586.32562017 seconds + 30.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692586.88256645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692587.03312993 seconds + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716370 ms (missed cycles : 3).[0m + 31.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692587.63117480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.30sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 31.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 31.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 31.30sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 31.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 31.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 31.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 31.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 31.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692587.69130778 seconds + 31.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692588.24698377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 31.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 31.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 31.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504972 ms (missed cycles : 2).[0m + 32.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 32.97sINFOobjective_server_nodePlanning for 177 path waypoints. + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175306 ms (missed cycles : 4).[0m + 33.34sINFOros2_control_nodeReceived new action goal[0m ×14 + 33.34sINFOros2_control_nodeAccepted new action goal[0m ×14 + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020410 ms (missed cycles : 2).[0m + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045444 ms (missed cycles : 2).[0m + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889007 ms (missed cycles : 2).[0m + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298059 ms (missed cycles : 2).[0m + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581428 ms (missed cycles : 3).[0m + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480669 ms (missed cycles : 3).[0m + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277654 ms (missed cycles : 2).[0m + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016866 ms (missed cycles : 2).[0m + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749640 ms (missed cycles : 3).[0m + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328356 ms (missed cycles : 2).[0m + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963445 ms (missed cycles : 3).[0m + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443717 ms (missed cycles : 3).[0m + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275532 ms (missed cycles : 3).[0m + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199501 ms (missed cycles : 2).[0m + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107133 ms (missed cycles : 2).[0m + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288875 ms (missed cycles : 4).[0m + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866037 ms (missed cycles : 2).[0m + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634411 ms (missed cycles : 3).[0m + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475166 ms (missed cycles : 2).[0m + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863177 ms (missed cycles : 3).[0m + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611894 ms (missed cycles : 2).[0m + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928638 ms (missed cycles : 3).[0m + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084883 ms (missed cycles : 2).[0m + 58.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356277 ms (missed cycles : 3).[0m + 59.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630406 ms (missed cycles : 2).[0m + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926860 ms (missed cycles : 3).[0m + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801067 ms (missed cycles : 3).[0m + 62.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977177 ms (missed cycles : 2).[0m + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393237 ms (missed cycles : 3).[0m + 64.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749166 ms (missed cycles : 3).[0m + 66.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982563 ms (missed cycles : 2).[0m + 67.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901602 ms (missed cycles : 2).[0m + 68.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007692 ms (missed cycles : 4).[0m + 69.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699293 ms (missed cycles : 2).[0m + 70.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482107 ms (missed cycles : 3).[0m + 71.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228443 ms (missed cycles : 2).[0m + 73.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665267 ms (missed cycles : 2).[0m + 74.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770660 ms (missed cycles : 3).[0m + 74.94sINFOros2_control_nodeGoal reached, success![0m ×13 + 74.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785692631.29574609 seconds + 75.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939560 ms (missed cycles : 2).[0m + 75.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785692631.85186768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966797 ms (missed cycles : 2).[0m + 76.61sINFOobjective_server_nodeFound path in 0 iterations (2.4737e-05 s). + 76.62sINFOobjective_server_nodePath shortcutter: [X____X] + 76.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 77.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857385 ms (missed cycles : 3).[0m + 78.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548198 ms (missed cycles : 3).[0m + 78.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785692635.09200001 seconds + 79.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785692635.64833474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 79.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696830 ms (missed cycles : 3).[0m + 79.68sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). + 80.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277798 ms (missed cycles : 2).[0m + 81.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745012 ms (missed cycles : 2).[0m + 81.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 82.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448693 ms (missed cycles : 2).[0m + 83.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040377 ms (missed cycles : 2).[0m + 84.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165051 ms (missed cycles : 2).[0m + 85.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284151 ms (missed cycles : 2).[0m + 86.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660638 ms (missed cycles : 4).[0m + 87.57sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m + 87.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602868 ms (missed cycles : 3).[0m + 88.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533356 ms (missed cycles : 4).[0m + 89.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593066 ms (missed cycles : 3).[0m + 91.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956277 ms (missed cycles : 4).[0m + 92.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935437 ms (missed cycles : 4).[0m + 93.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541313 ms (missed cycles : 4).[0m + 94.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060210 ms (missed cycles : 2).[0m + 95.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215837 ms (missed cycles : 2).[0m + 96.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040875 ms (missed cycles : 2).[0m + 97.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.806721 ms (missed cycles : 5).[0m + 98.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140129 ms (missed cycles : 2).[0m + 99.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766606 ms (missed cycles : 2).[0m +100.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197085 ms (missed cycles : 4).[0m +101.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798480 ms (missed cycles : 2).[0m +102.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831423 ms (missed cycles : 3).[0m +103.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038790 ms (missed cycles : 2).[0m +104.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988901 ms (missed cycles : 2).[0m +105.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734711 ms (missed cycles : 2).[0m +107.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148929 ms (missed cycles : 4).[0m +108.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421714 ms (missed cycles : 3).[0m +109.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654780 ms (missed cycles : 2).[0m +110.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977505 ms (missed cycles : 2).[0m +110.54sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +111.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633961 ms (missed cycles : 3).[0m +112.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028514 ms (missed cycles : 2).[0m +113.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319107 ms (missed cycles : 4).[0m +114.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068796 ms (missed cycles : 2).[0m +115.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210790 ms (missed cycles : 4).[0m +116.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278637 ms (missed cycles : 2).[0m +117.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796575 ms (missed cycles : 3).[0m +118.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442919 ms (missed cycles : 3).[0m +119.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816062 ms (missed cycles : 3).[0m +120.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842908 ms (missed cycles : 2).[0m +121.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288738 ms (missed cycles : 3).[0m +122.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099479 ms (missed cycles : 4).[0m +123.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911366 ms (missed cycles : 3).[0m +124.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228086 ms (missed cycles : 4).[0m +126.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355285 ms (missed cycles : 3).[0m +127.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411835 ms (missed cycles : 5).[0m +128.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828231 ms (missed cycles : 3).[0m +129.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666909 ms (missed cycles : 4).[0m +130.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843889 ms (missed cycles : 3).[0m +131.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367823 ms (missed cycles : 3).[0m +132.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762657 ms (missed cycles : 2).[0m +133.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465467 ms (missed cycles : 3).[0m +134.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389925 ms (missed cycles : 2).[0m +135.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024231 ms (missed cycles : 2).[0m +136.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785692692.53845716 seconds +136.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785692693.12693787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +137.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958893 ms (missed cycles : 4).[0m +137.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +137.18sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +138.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962730 ms (missed cycles : 2).[0m +139.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039498 ms (missed cycles : 3).[0m +140.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906311 ms (missed cycles : 3).[0m +140.91sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785692697.25708914 seconds +141.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581162 ms (missed cycles : 3).[0m +142.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799110 ms (missed cycles : 5).[0m +142.47sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785692698.81666374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +142.85sINFOobjective_server_nodeFound path in 0 iterations (1.003e-06 s). +143.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283115 ms (missed cycles : 3).[0m +144.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669049 ms (missed cycles : 3).[0m +144.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +145.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067528 ms (missed cycles : 2).[0m +146.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746647 ms (missed cycles : 3).[0m +147.58sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m +147.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169039 ms (missed cycles : 4).[0m +148.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723798 ms (missed cycles : 2).[0m +150.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739561 ms (missed cycles : 3).[0m +151.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372120 ms (missed cycles : 3).[0m +152.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610478 ms (missed cycles : 3).[0m +153.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683075 ms (missed cycles : 3).[0m +154.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821594 ms (missed cycles : 3).[0m +155.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861193 ms (missed cycles : 2).[0m +156.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817654 ms (missed cycles : 3).[0m +157.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689258 ms (missed cycles : 3).[0m +158.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190999 ms (missed cycles : 3).[0m +159.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730194 ms (missed cycles : 2).[0m +161.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546510 ms (missed cycles : 3).[0m +162.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111322 ms (missed cycles : 4).[0m +163.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792383 ms (missed cycles : 3).[0m +164.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026638 ms (missed cycles : 4).[0m +165.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341362 ms (missed cycles : 3).[0m +166.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732941 ms (missed cycles : 3).[0m +167.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618550 ms (missed cycles : 4).[0m +168.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240222 ms (missed cycles : 3).[0m +169.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218133 ms (missed cycles : 2).[0m +170.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010205 ms (missed cycles : 4).[0m +171.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885585 ms (missed cycles : 5).[0m +172.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367520 ms (missed cycles : 4).[0m +173.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785692729.63681793 seconds +173.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785692730.20087981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +173.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663286 ms (missed cycles : 3).[0m +174.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 +174.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690357 ms (missed cycles : 3).[0m +175.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×3 +176.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168073 ms (missed cycles : 3).[0m +177.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138583 ms (missed cycles : 2).[0m +178.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738866 ms (missed cycles : 3).[0m +179.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809511 ms (missed cycles : 4).[0m +180.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781174 ms (missed cycles : 3).[0m +181.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506666 ms (missed cycles : 2).[0m +182.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004595 ms (missed cycles : 2).[0m +183.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581243 ms (missed cycles : 3).[0m +184.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112247 ms (missed cycles : 2).[0m +185.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768157 ms (missed cycles : 2).[0m +186.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254952 ms (missed cycles : 3).[0m +187.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467217 ms (missed cycles : 3).[0m +188.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594115 ms (missed cycles : 3).[0m +190.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704304 ms (missed cycles : 3).[0m +191.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955546 ms (missed cycles : 3).[0m +192.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043651 ms (missed cycles : 2).[0m +193.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397641 ms (missed cycles : 3).[0m +194.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743046 ms (missed cycles : 5).[0m +195.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936078 ms (missed cycles : 3).[0m +196.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671017 ms (missed cycles : 4).[0m +197.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.425019 ms (missed cycles : 5).[0m +198.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353719 ms (missed cycles : 3).[0m +199.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287733 ms (missed cycles : 4).[0m +200.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198081 ms (missed cycles : 2).[0m +201.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343206 ms (missed cycles : 4).[0m +202.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663005 ms (missed cycles : 3).[0m +203.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132605 ms (missed cycles : 4).[0m +204.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025341 ms (missed cycles : 2).[0m +205.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489823 ms (missed cycles : 4).[0m +207.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527778 ms (missed cycles : 3).[0m +207.58sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +208.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998928 ms (missed cycles : 3).[0m +208.26sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×2 +208.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1785692764.61108971 seconds +208.94sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785692765.28333545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +209.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792299 ms (missed cycles : 3).[0m +209.32sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). +210.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397080 ms (missed cycles : 3).[0m +211.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549443 ms (missed cycles : 3).[0m +212.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443493 ms (missed cycles : 4).[0m +213.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422953 ms (missed cycles : 3).[0m +214.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219315 ms (missed cycles : 3).[0m +215.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206301 ms (missed cycles : 3).[0m +216.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340441 ms (missed cycles : 4).[0m +217.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266202 ms (missed cycles : 3).[0m +218.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415394 ms (missed cycles : 4).[0m +219.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +219.10sINFOros2_control_nodeGot request to cancel goal[0m +219.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +219.14sERRORobjective_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: 1785692775.48647022 seconds +219.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785692776.05608678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +219.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836254 ms (missed cycles : 3).[0m +221.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123212 ms (missed cycles : 2).[0m +222.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535534 ms (missed cycles : 4).[0m +223.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876329 ms (missed cycles : 3).[0m +224.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098422 ms (missed cycles : 2).[0m +225.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626130 ms (missed cycles : 3).[0m +226.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013849 ms (missed cycles : 4).[0m +227.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204373 ms (missed cycles : 2).[0m +228.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874336 ms (missed cycles : 3).[0m +229.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952085 ms (missed cycles : 3).[0m +230.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779038 ms (missed cycles : 4).[0m +231.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535289 ms (missed cycles : 4).[0m +232.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648263 ms (missed cycles : 3).[0m +234.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870123 ms (missed cycles : 3).[0m +235.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144589 ms (missed cycles : 2).[0m +236.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539507 ms (missed cycles : 3).[0m +237.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228136 ms (missed cycles : 4).[0m +238.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854815 ms (missed cycles : 2).[0m +239.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081350 ms (missed cycles : 4).[0m +240.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060941 ms (missed cycles : 2).[0m +241.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798072 ms (missed cycles : 2).[0m +242.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923379 ms (missed cycles : 3).[0m +243.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065184 ms (missed cycles : 4).[0m +244.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083170 ms (missed cycles : 2).[0m +245.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478598 ms (missed cycles : 3).[0m +247.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264596 ms (missed cycles : 4).[0m +248.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077554 ms (missed cycles : 2).[0m +249.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985301 ms (missed cycles : 2).[0m +250.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146596 ms (missed cycles : 2).[0m +251.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945470 ms (missed cycles : 3).[0m +252.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354758 ms (missed cycles : 4).[0m +253.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597662 ms (missed cycles : 4).[0m +254.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785692810.51624942 seconds +254.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062826 ms (missed cycles : 3).[0m +254.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785692811.13026595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +255.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923654 ms (missed cycles : 3).[0m +256.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827087 ms (missed cycles : 3).[0m +257.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265920 ms (missed cycles : 2).[0m +258.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242262 ms (missed cycles : 2).[0m +258.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785692815.20040894 seconds +259.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785692815.77114534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +259.80sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). +259.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793945 ms (missed cycles : 4).[0m +261.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205273 ms (missed cycles : 3).[0m +262.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141137 ms (missed cycles : 2).[0m +263.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011479 ms (missed cycles : 4).[0m +264.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314494 ms (missed cycles : 2).[0m +265.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890812 ms (missed cycles : 3).[0m +266.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118773 ms (missed cycles : 3).[0m +267.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441525 ms (missed cycles : 3).[0m +267.58sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m +268.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189255 ms (missed cycles : 3).[0m +269.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096638 ms (missed cycles : 4).[0m +270.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256441 ms (missed cycles : 2).[0m +271.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079717 ms (missed cycles : 2).[0m +272.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209480 ms (missed cycles : 4).[0m +273.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171025 ms (missed cycles : 2).[0m +274.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235364 ms (missed cycles : 4).[0m +275.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926628 ms (missed cycles : 3).[0m +276.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669784 ms (missed cycles : 3).[0m +277.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741225 ms (missed cycles : 3).[0m +279.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017476 ms (missed cycles : 2).[0m +280.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426512 ms (missed cycles : 2).[0m +281.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488988 ms (missed cycles : 3).[0m +282.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m +283.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778079 ms (missed cycles : 2).[0m +284.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490372 ms (missed cycles : 4).[0m +285.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817890 ms (missed cycles : 3).[0m +286.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310610 ms (missed cycles : 4).[0m +287.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354225 ms (missed cycles : 3).[0m +289.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421802 ms (missed cycles : 5).[0m +290.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905639 ms (missed cycles : 5).[0m +291.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494922 ms (missed cycles : 4).[0m +292.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769873 ms (missed cycles : 2).[0m +293.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923016 ms (missed cycles : 3).[0m +294.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565256 ms (missed cycles : 4).[0m +295.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343736 ms (missed cycles : 4).[0m +296.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245065 ms (missed cycles : 2).[0m +297.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651759 ms (missed cycles : 3).[0m +298.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838315 ms (missed cycles : 3).[0m +299.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438389 ms (missed cycles : 3).[0m +301.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433190 ms (missed cycles : 3).[0m +302.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224013 ms (missed cycles : 2).[0m +303.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489270 ms (missed cycles : 5).[0m +304.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817680 ms (missed cycles : 2).[0m +305.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851243 ms (missed cycles : 4).[0m +306.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152659 ms (missed cycles : 3).[0m +307.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026086 ms (missed cycles : 3).[0m +308.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674937 ms (missed cycles : 3).[0m +309.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101761 ms (missed cycles : 2).[0m +310.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047744 ms (missed cycles : 2).[0m +311.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937878 ms (missed cycles : 3).[0m +312.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224097 ms (missed cycles : 2).[0m +313.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.047107 ms (missed cycles : 5).[0m +314.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125774 ms (missed cycles : 2).[0m +316.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989198 ms (missed cycles : 3).[0m +316.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785692872.49127793 seconds +316.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785692873.05683827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +317.07sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). +317.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751904 ms (missed cycles : 2).[0m +318.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904921 ms (missed cycles : 3).[0m +319.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102818 ms (missed cycles : 4).[0m +320.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343305 ms (missed cycles : 4).[0m +321.39sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). +321.42sINFOobjective_server_nodePath shortcutter: [X__________________X] +321.46sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). +321.49sINFOobjective_server_nodePath shortcutter: [X____________________X] +321.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447123 ms (missed cycles : 3).[0m +321.53sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). +321.60sINFOobjective_server_nodePath shortcutter: [X_________________________X] +321.66sINFOobjective_server_nodeFound path in 0 iterations (1.578e-06 s). +321.86sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +321.92sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). +322.19sINFOobjective_server_nodeFound path in 80 iterations (0.0489858 s). +322.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X____X] +322.62sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). +322.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529087 ms (missed cycles : 3).[0m +323.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +323.24sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). +323.68sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +323.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006825 ms (missed cycles : 4).[0m +323.92sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +325.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196228 ms (missed cycles : 2).[0m +326.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715480 ms (missed cycles : 3).[0m +327.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472848 ms (missed cycles : 2).[0m +328.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161635 ms (missed cycles : 3).[0m +329.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476800 ms (missed cycles : 3).[0m +329.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785692886.26992464 seconds +330.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358718 ms (missed cycles : 3).[0m +330.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785692886.85370684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +331.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785692887.38384295 seconds +331.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834770 ms (missed cycles : 3).[0m +331.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785692887.93657684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +332.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785692888.44671941 seconds +332.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +333.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718447 ms (missed cycles : 3).[0m +333.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925745 ms (missed cycles : 3).[0m +334.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888207 ms (missed cycles : 3).[0m +335.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973380 ms (missed cycles : 3).[0m +337.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122209 ms (missed cycles : 3).[0m +338.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084070 ms (missed cycles : 3).[0m +338.25sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.25sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.26sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.26sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] +338.28sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.28sERRORweb_video_auth_proxy-34process has died [pid 9484, 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']. +338.28sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] +338.30sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.30sERRORweb_bridge_auth_proxy-33process has died [pid 9472, 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']. +338.31sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.31sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.31sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.32sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.32sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.33sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.33sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.33sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.34sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.34sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.34sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.35sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.35sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.36sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.36sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.36sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.37sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +338.37sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] +338.40sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] +338.43sINFOvideo_server-32process has finished cleanly [pid 9467] +338.43sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] +338.45sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system +338.45sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] +338.47sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] +338.50sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +338.52sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +338.55sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +338.58sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +338.60sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +338.63sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +338.67sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +338.68sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9466] +338.70sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +338.73sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +338.76sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +338.77sERRORmove_group-20process has died [pid 9453, 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_dy2nrrit --params-file /tmp/launch_params_cnu0egpv --params-file /tmp/launch_params_jrv07q13 --params-file /tmp/launch_params_hf_1udb_ --params-file /tmp/launch_params_viams19a --params-file /tmp/launch_params_t5pqo1a1']. +338.77sERRORui_teleop_bridge-29process has died [pid 9464, 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_lt5eepny']. +338.78sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +338.79sINFOcomponent_container_mt-27process has finished cleanly [pid 9460] +338.81sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +338.84sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +338.84sINFOexecute_objective_bridge-28process has finished cleanly [pid 9463] +338.86sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +338.86sERRORobjective_server_node_main-25process has died [pid 9458, 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_uyufnpvf --params-file /tmp/launch_params_jglaei31 --params-file /tmp/launch_params_5awt7stk --params-file /tmp/launch_params_7iy57awy --params-file /tmp/launch_params_i34xnnqn --params-file /tmp/launch_params_gb6pi2yp --params-file /tmp/launch_params_dcfnxj2y --params-file /tmp/launch_params_98jvxd_z --params-file /tmp/launch_params_r1ffykhp']. +338.88sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +338.88sINFOvideo_server2026/08/02 17:48:14 INF shutting down gracefully +338.88sINFOvideo_server2026/08/02 17:48:14 INF [WebRTC] closing +338.88sINFOvideo_server2026/08/02 17:48:14 INF [RTSP] closing +338.88sINFOvideo_server2026/08/02 17:48:14 INF waiting for running hooks +338.89sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +338.89sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +338.89sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +338.89sERRORui_teleop_bridgeTraceback (most recent call last): +338.89sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +338.89sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +338.89sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +338.89sINFOui_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 +338.89sINFOui_teleop_bridgerclpy.shutdown() +338.89sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +338.89sINFOui_teleop_bridge_shutdown(context=context) +338.89sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +338.89sINFOui_teleop_bridgecontext.shutdown() +338.89sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +338.89sINFOui_teleop_bridgeself.__context.shutdown() +338.89sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +338.89sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +338.89sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +338.89sINFOcomponent_container_mtStopping planning scene monitor[0m +338.89sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +338.90sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +338.90sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +338.90sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system +338.90sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +338.90sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +338.90sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +338.90sERRORmove_groupwhat(): context cannot be slept with because it's invalid +338.90sERRORmove_groupStack trace (most recent call last) in thread 10052: +338.90sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +338.90sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9015cea63, in __clone +338.90sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb901541aa3, in +338.90sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9017d3db3, in +338.90sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fb901f3fed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +338.90sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb901b65620, in rclcpp::Rate::sleep() +338.90sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb901aa7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +338.90sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb901a69087, in +338.90sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9017a2390, in __cxa_throw +338.90sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb90178ca54, in std::terminate() +338.90sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9017a20d9, in +338.90sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb90178cff4, in +338.90sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9014cd8fe, in abort +338.90sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9014ea27d, in raise +338.90sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb901543b2c, in pthread_kill +338.90sERRORmove_groupAborted (Signal sent by tkill() 9453 0) +338.90sINFOobjective_server_node[2026-08-02 17:48:15.078] [moveit_pro_license] [info] +338.90sINFOobjective_server_node* Application has successfully terminated +338.90sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +338.90sINFOros2_control_nodeShutdown request received....[0m +338.90sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +338.90sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +338.90sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +338.90sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +338.90sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +338.90sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +338.90sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +338.90sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +338.90sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +338.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +338.90sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +338.90sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +338.90sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +338.90sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +338.90sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +338.91sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +338.91sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +338.91sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +338.91sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +338.91sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +338.91sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +338.91sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +338.91sINFOros2_control_nodeShutting down the controller manager.[0m +338.91sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +338.91sERRORobjective_server_nodeStack trace (most recent call last): +338.91sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +338.91sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +338.91sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dbcea696a4, in _start +338.91sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9fc134528a, in __libc_start_main +338.91sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9fc13451d0, in +338.91sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9fc1362bbd, in exit +338.91sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9fc1362a75, in +338.91sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f9fc18318f5, in spdlog::details::registry::~registry() +338.91sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dbcea69d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +338.91sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dbcea70315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +338.91sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dbcea6f5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +338.91sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dbcea6bb7b, in spdlog_ros::RosSink::~RosSink() +338.91sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dbcea69d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +338.91sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9fc1f09294, in rclcpp::Node::~Node() +338.91sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9fc1eb3485, in +338.91sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9fc1f07b60, in +338.91sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9fc1f07aa3, in rclcpp::node_interfaces::NodeBase::~NodeBase() +338.91sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9fc1eb3549, in +338.91sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9fc1eb7ba1, in rclcpp::CallbackGroup::~CallbackGroup() +338.91sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9f85071930]) +338.91sERRORodom_qos_relay.pyTraceback (most recent call last): +338.91sINFOodom_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> +338.91sINFOodom_qos_relay.pymain() +338.91sINFOodom_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 +338.91sINFOodom_qos_relay.pyrclpy.spin(node) +338.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +338.91sINFOodom_qos_relay.pyexecutor.spin_once() +338.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +338.91sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +338.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +338.91sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +338.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +338.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +338.91sINFOodom_qos_relay.pyreturn next(self._cb_iter) +338.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +338.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +338.91sINFOodom_qos_relay.pyraise ExternalShutdownException() +338.91sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +338.92sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +338.92sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +338.95sINFOros2_control_nodeAsync messages lost 0[0m ×2 +338.95sINFOros2_control_nodepublish_async_failures_ 2[0m +338.95sINFOros2_control_nodepublish_async_failures_ 3[0m +339.01sERRORcomponent_container_isolated-2process has died [pid 9340, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_iommd1am --params-file /tmp/launch_params_gswlw62o -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +339.62sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9457] +339.65sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9456] +339.73sINFOparameter_manager_node-21process has finished cleanly [pid 9454] +339.73sINFOcomponent_container_mt-26process has finished cleanly [pid 9459] +339.80sINFOwaypoint_manager_node-22process has finished cleanly [pid 9455] +339.82sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9344] +339.83sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9345] +339.89sINFOstatic_transform_publisher-4process has finished cleanly [pid 9342] +339.90sINFOstatic_transform_publisher-3process has finished cleanly [pid 9341] +339.92sERRORodom_qos_relay.py-5process has died [pid 9343, 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']. +341.18sINFOweb_bridge-30process has finished cleanly [pid 9465] +341.19sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system +341.46sINFOros2_control_node-8process has finished cleanly [pid 9346] +349.89sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-02-17-48-22-783141-262c92f73f88-10368 ×2 +363.73sINFOstatic_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' +363.73sINFOstatic_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' +363.79sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +363.80sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +363.80sINFOcontroller_managerupdate rate is 600 Hz +363.80sINFOcontroller_managerOverruns handling is : enabled +363.80sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +363.80sWARNcontroller_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. +363.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828816 ms (missed cycles : 2). +364.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +364.00sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +364.03sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +364.03sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +364.04sINFOros2_control_node-8process started with pid [10425] ×2 +364.05sINFOmove_group-20process started with pid [10532] ×2 +364.05sINFOparameter_manager_node-21process started with pid [10533] ×2 +364.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +364.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +364.07sINFOwaypoint_manager_node-22process started with pid [10534] ×2 +364.07sINFOmove_joint_resampler_node-23process started with pid [10535] ×2 +364.07sINFOmove_end_effector_resampler_node-24process started with pid [10538] ×2 +364.07sINFOobjective_server_node_main-25process started with pid [10539] ×2 +364.07sINFOcomponent_container_mt-26process started with pid [10540] ×2 +364.07sINFOcomponent_container_mt-27process started with pid [10541] ×2 +364.07sINFOexecute_objective_bridge-28process started with pid [10542] ×2 +364.07sINFOui_teleop_bridge-29process started with pid [10543] ×2 +364.07sINFOweb_bridge-30process started with pid [10544] ×2 +364.07sINFOtf2_web_republisher_node-31process started with pid [10545] ×2 +364.07sINFOvideo_server-32process started with pid [10546] ×2 +364.07sINFOweb_bridge_auth_proxy-33process started with pid [10547] ×2 +364.07sINFOweb_video_auth_proxy-34process started with pid [10548] ×2 +364.07sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +364.08sINFOcomponent_container_isolated-1process started with pid [10418] ×2 +364.08sINFOcomponent_container_isolated-2process started with pid [10419] ×2 +364.08sINFOstatic_transform_publisher-3process started with pid [10420] ×2 +364.08sINFOcontroller_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. +364.10sINFOstatic_transform_publisher-4process started with pid [10421] ×2 +364.10sINFOodom_qos_relay.py-5process started with pid [10422] ×2 +364.10sINFOscan_to_scan_filter_chain-6process started with pid [10423] ×2 +364.10sINFOscan_to_scan_filter_chain-7process started with pid [10424] ×2 +364.11sINFOros2-9process started with pid [10521] ×2 +364.11sINFOros2-10process started with pid [10522] ×2 +364.11sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +364.11sINFOros2-11process started with pid [10523] ×2 +364.11sINFOros2-12process started with pid [10524] ×2 +364.11sINFOros2-13process started with pid [10525] ×2 +364.11sINFOros2-14process started with pid [10526] ×2 +364.11sINFOros2-15process started with pid [10527] ×2 +364.11sINFOros2-16process started with pid [10528] ×2 +364.11sINFOros2-17process started with pid [10529] ×2 +364.11sINFOros2-18process started with pid [10530] ×2 +364.11sINFOros2-19process started with pid [10531] ×2 +364.12sINFOcontroller_serverCreating controller server +364.16sINFOlocal_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. +364.17sINFOlocal_costmap.local_costmapCreating Costmap +364.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +364.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +364.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +364.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +364.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +364.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +364.22sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +364.24sINFOsmoother_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. +364.26sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +364.26sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +364.27sINFOsmoother_serverCreating smoother server +364.28sINFOmap_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. +364.28sINFOmap_serverCreating +364.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +364.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828816 ms (missed cycles : 2).[0m ×2 +364.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +364.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +364.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +364.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +364.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +364.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +364.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +364.37sINFOplanner_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. +364.42sINFOrobot_state_publisherRobot initialized +364.42sINFOplanner_serverCreating +364.43sINFOcontroller_managerReceived robot description from topic. +364.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +364.47sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +364.47sINFOglobal_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. +364.48sINFOglobal_costmap.global_costmapCreating Costmap +364.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +364.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +364.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +364.53sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +364.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +364.55sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +364.55sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +364.55sINFObehavior_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. +364.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +364.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +364.57sINFOlifecycle_manager_localizationCreating +364.60sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +364.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +364.60sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +364.60sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +364.61sINFOmap_serverConfiguring +364.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +364.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +364.64sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +364.67sINFObt_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. +364.69sINFObt_navigatorCreating +364.71sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.305232 seconds +364.71sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +364.71sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +364.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +364.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +364.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +364.72sINFOmove_groupLoaded robot model in 0.305232 seconds[0m ×2 +364.74sWARNlaser_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. +364.74sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +364.74sINFOamclConfiguring +364.74sWARNlaser_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. +364.74sINFOvideo_server2026/08/02 17:48:41 INF MediaMTX v1.19.3, linux, amd64 ×2 +364.74sINFOvideo_server2026/08/02 17:48:41 INF configuration loaded from /tmp/moveit-webrtc-8q73tflv/mediamtx.yml ×2 +364.74sINFOvideo_server2026/08/02 17:48:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +364.74sINFOvideo_server2026/08/02 17:48:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +364.75sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +364.75sINFOmap_serverActivating +364.75sINFOmap_serverCreating bond (map_server) to lifecycle manager. +364.76sINFOwaypoint_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. +364.76sINFOwaypoint_followerCreating +364.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +364.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +364.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +364.81sINFOvelocity_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. +364.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +364.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +364.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +364.85sINFOlifecycle_manager_navigationCreating +364.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294199 ms (missed cycles : 2). +364.86sINFOlifecycle_manager_localizationServer map_server connected with bond. +364.86sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +364.86sINFOamclActivating +364.86sINFOamclSubscribed to initial_pose_topic: /initialpose +364.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294199 ms (missed cycles : 2).[0m ×2 +364.87sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +364.87sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +364.89sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +364.89sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +364.89sINFOcontroller_serverConfiguring controller interface +364.89sINFOcontroller_servergetting progress checker plugins.. +364.89sINFOcontroller_servergetting goal checker plugins.. +364.89sINFOcontroller_serverController frequency set to 20.0000Hz +364.89sINFOlocal_costmap.local_costmapConfiguring +364.91sINFOamclSubscribed to map_topic: /map +364.91sINFOamclSubscribed to scan_topic: /scan_merged +364.92sINFOamclCreated reinitialize_global_localization service +364.92sINFOamclCreated request_nomotion_update service +364.92sINFOamclA new map was received +364.92sINFOamclInitializing particle filter instance +364.92sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +364.95sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +365.01sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +365.01sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +365.01sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +365.05sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +365.05sINFOcontroller_serverController Server has progress_checker progress checkers available. +365.06sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +365.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +365.06sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +365.07sINFOwaypoint_manager_nodeLoaded robot model in 0.400876 seconds[0m ×2 +365.09sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +365.11sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +365.11sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +365.12sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +365.12sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +365.12sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +365.12sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +365.13sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +365.13sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +365.14sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +365.14sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +365.14sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +365.15sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +365.15sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +365.15sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +365.15sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +365.15sINFOcontroller_serverOptimizer reset +365.17sINFOcontroller_serverController Server has FollowPath controllers available. +365.19sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +365.19sINFOsmoother_serverConfiguring smoother server +365.20sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +365.21sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +365.22sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +365.22sINFOplanner_serverConfiguring +365.22sINFOglobal_costmap.global_costmapConfiguring +365.23sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +365.25sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +365.25sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +365.25sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +365.25sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +365.27sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +365.27sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +365.28sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +365.33sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +365.33sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +365.33sINFOplanner_serverPlanner Server has GridBased planners available. +365.35sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +365.35sINFObehavior_serverConfiguring +365.36sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +365.36sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +365.37sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +365.38sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +365.39sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +365.40sINFObehavior_serverConfiguring spin +365.41sINFObehavior_serverConfiguring backup +365.42sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +365.42sWARNmove_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. +365.43sWARNmove_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. +365.43sINFObehavior_serverConfiguring drive_on_heading +365.43sWARNmove_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. +365.43sWARNmove_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. +365.44sWARNmove_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. +365.44sWARNmove_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. +365.44sINFObehavior_serverConfiguring assisted_teleop +365.44sWARNmove_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. +365.44sWARNmove_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. +365.45sWARNmove_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. +365.45sWARNmove_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. +365.46sINFObehavior_serverConfiguring wait +365.49sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +365.49sINFObt_navigatorConfiguring +365.50sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +365.52sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +365.61sERRORcomponent_container_isolated-1process has died [pid 10418, exit code -8, 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_ucsvaa2c --params-file /tmp/launch_params_um2fpy63 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +365.62sINFOamclParticle filter initialization completed +365.62sINFOamclInitializing particles from estimated pose and covariance +365.62sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +365.68sINFOlifecycle_manager_localizationServer amcl connected with bond. +365.68sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +365.68sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +365.73sINFOamclThe bond connection to the lifecycle manager is now fully formed +365.87sINFOmove_group[2026-08-02 17:48:42.221] [moveit_pro_license] [info] ×2 +365.89sWARNwaypoint_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. +365.90sWARNwaypoint_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. +365.90sWARNwaypoint_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. +365.90sWARNwaypoint_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. +365.91sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.92sWARNwaypoint_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. +365.92sWARNwaypoint_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. +365.92sWARNwaypoint_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. +365.92sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.92sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.93sWARNwaypoint_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. +365.93sWARNwaypoint_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. +365.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.94sWARNwaypoint_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. +365.94sWARNwaypoint_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. +365.94sWARNwaypoint_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. +365.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.94sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.95sWARNwaypoint_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. +365.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.95sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +366.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513042 ms (missed cycles : 3). +366.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513042 ms (missed cycles : 3).[0m ×2 +366.31sINFOwaypoint_manager_node[2026-08-02 17:48:42.649] [moveit_pro_license] [info] ×2 +366.34sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +366.35sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +366.73sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +366.73sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +366.73sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +366.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +366.74sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +366.74sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +366.74sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +366.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +366.74sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +366.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +366.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +366.75sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +367.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681310 ms (missed cycles : 2). +367.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681310 ms (missed cycles : 2).[0m ×2 +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +367.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +367.39sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +367.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +367.41sINFOstreaming_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) +367.42sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +367.49sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +367.49sINFOcontroller_managerActivating component 'ur_mujoco_control'. +367.49sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +367.49sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +367.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +367.51sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +367.51sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +367.51sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +367.52sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +367.54sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +367.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +367.55sINFOplatform_velocity_controller_nav2configure successful +367.59sINFOobjective_server_node[2026-08-02 17:48:43.933] [moveit_pro_license] [info] ×2 +367.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +367.62sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +367.64sINFOstreaming_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) +367.71sINFOobjective_server_nodeLoaded robot model in 0.0355559 seconds[0m ×2 +367.87sINFOros2-14process has finished cleanly [pid 10526] ×2 +367.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +367.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +367.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +367.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +367.98sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +367.99sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +368.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +368.04sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +368.05sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +368.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +368.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +368.20sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.20sWARNobjective_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. +368.21sWARNobjective_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. +368.21sWARNobjective_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. +368.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763399 ms (missed cycles : 2). +368.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763399 ms (missed cycles : 2).[0m ×2 +368.47sINFOros2_control_node[2026-08-02 17:48:44.820] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +368.48sINFOros2_control_node[2026-08-02 17:48:44.822] [info] Controller state will be published at 10 Hz. ×2 +368.48sINFOros2_control_node[2026-08-02 17:48:44.823] [info] VelocityForceController 'on_configure' succeeded. ×2 +368.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +368.73sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785692923.955 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +368.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +368.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +368.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +368.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +368.83sINFOros2-17process has finished cleanly [pid 10529] ×2 +368.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +368.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +368.88sINFOforce_torque_sensor_broadcasterconfigure successful +368.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +368.89sINFOcontroller_managerSuccessfully switched controllers! ×7 +368.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +368.93sINFOmove_groupMoveGroup debug mode is ON +369.08sINFOmove_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
********************************************************
+369.20sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +369.20sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +369.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +369.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +369.23sINFOros2-9process has finished cleanly [pid 10521] ×2 +369.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457581 ms (missed cycles : 2). +369.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457581 ms (missed cycles : 2).[0m ×2 +369.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +369.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +369.30sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +369.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +369.30sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +369.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +369.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +369.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +369.42sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +369.65sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +369.65sINFOcontroller_managerLoading controller 'vacuum_gripper' +369.65sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +369.65sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +369.67sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +369.70sINFOros2-15process has finished cleanly [pid 10527] ×2 +369.71sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +369.71sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +369.71sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +369.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +369.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +370.04sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +370.04sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +370.05sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +370.05sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +370.05sINFOros2-13process has finished cleanly [pid 10525] ×2 +370.12sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +370.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +370.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +370.13sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +370.29sINFOcomponent_container_mtLoaded robot model in 2.08625 seconds[0m ×2 +370.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913778 ms (missed cycles : 3). +370.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913778 ms (missed cycles : 3).[0m ×2 +370.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +370.45sINFOcontroller_managerLoading controller 'velocity_force_controller' +370.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +370.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +370.49sINFOros2-10process has finished cleanly [pid 10522] ×2 +370.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +370.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.72sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.73sWARNplanning_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. +370.74sWARNplanning_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. +370.90sINFOros2_control_node[2026-08-02 17:48:47.249] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +370.90sINFOros2_control_node[2026-08-02 17:48:47.251] [info] Controller state will be published at 10 Hz. ×2 +370.90sINFOros2_control_node[2026-08-02 17:48:47.252] [info] VelocityForceController 'on_configure' succeeded. ×2 +370.93sINFOcomponent_container_mt[2026-08-02 17:48:47.275] [moveit_pro_license] [info] ×2 +371.25sINFOros2-16process has finished cleanly [pid 10528] ×2 +371.26sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +371.26sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +371.33sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785692926.554 for reason 'discarding message because the queue is full' +371.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +371.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +371.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004036 ms (missed cycles : 2). +371.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004036 ms (missed cycles : 2).[0m ×2 +371.41sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +371.41sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +371.81sINFOros2_control_node[2026-08-02 17:48:48.152] [info] Controller state will be published at 20 Hz. ×2 +371.81sINFOros2_control_node[2026-08-02 17:48:48.153] [info] JointVelocityController 'on_configure' succeeded. ×2 +372.16sINFOros2-19process has finished cleanly [pid 10531] ×2 +372.20sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +372.20sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +372.20sINFOcontroller_managerLoading controller 'joint_velocity_controller' +372.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +372.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +372.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +372.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +372.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484072 ms (missed cycles : 3). +372.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484072 ms (missed cycles : 3).[0m ×2 +372.60sINFOros2_control_node[2026-08-02 17:48:48.940] [info] Controller state will be published at 20 Hz. ×2 +372.60sINFOros2_control_node[2026-08-02 17:48:48.941] [info] JointVelocityController 'on_configure' succeeded. ×2 +372.95sINFOros2-18process has finished cleanly [pid 10530] ×2 +373.00sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +373.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +373.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' +373.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +373.01sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +373.03sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +373.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +373.05sINFOplatform_velocity_controllerconfigure successful +373.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +373.05sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +373.35sINFOros2-12process has finished cleanly [pid 10524] ×2 +373.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +373.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +373.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +373.36sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 +373.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_v7yox_jk --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_l4z9fi1d --params-file /tmp/launch_params_hxxrqcw8 [0m ×2 +373.40sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +373.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +373.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +373.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +373.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +373.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861563 ms (missed cycles : 2). +373.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861563 ms (missed cycles : 2).[0m ×2 +373.63sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 4.630ms +373.79sINFOros2-11process has finished cleanly [pid 10523] ×2 +373.83sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785692929.054 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +374.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235595 ms (missed cycles : 2). +374.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235595 ms (missed cycles : 2).[0m ×2 +375.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). +375.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 +376.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). +376.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 +377.53sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +377.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). +377.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 +378.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). +378.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 +378.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +378.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +378.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +378.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 +379.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +379.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 +379.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). +379.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 +379.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +380.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 +380.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +380.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +380.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +380.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +380.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +380.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +380.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +380.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +380.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +380.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +380.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +380.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 +380.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). +380.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | 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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 6.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.10sINFOjoint_trajectory_controllerReceived new action goal + 7.10sINFOjoint_trajectory_controllerAccepted new action goal + 7.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 6.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235595 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_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 + 6.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.74sINFOros2_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 3.235595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235595 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_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 + 6.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093053 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 6.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − 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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157928 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157928 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_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 2.111718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111718 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.509758 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509758 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539413 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692935.14650130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.12sINFOmove_groupClearing octomap...[0m ×2 + 2.12sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692935.15669537 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692935.72142100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692935.73154569 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431911 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692936.28578615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692936.43929005 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692937.02068591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692937.08081007 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082783 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785692937.63484335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837971 ms (missed cycles : 2).[0m ×2 + 5.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||