69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.3s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.2s | 14 errors · 312 warnings · 1175 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-29-17-44-11-134800-420fca8342ea-9238 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.65sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 12.65sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 12.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 12.69sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.69sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.70sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 12.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 12.71sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 12.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.76sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 12.76sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 12.76sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 12.76sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 12.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.78sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 12.78sINFOmap_serverCreating + 12.78sINFOcontroller_managerupdate rate is 600 Hz + 12.78sINFOcontroller_managerOverruns handling is : enabled + 12.78sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.79sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 12.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 12.85sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 12.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 12.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 12.89sINFOros2_control_node-8process started with pid [9295] ×2 + 12.89sINFOmove_group-20process started with pid [9387] ×2 + 12.89sINFOparameter_manager_node-21process started with pid [9388] ×2 + 12.89sINFOwaypoint_manager_node-22process started with pid [9389] ×2 + 12.89sINFOmove_joint_resampler_node-23process started with pid [9390] ×2 + 12.89sINFOmove_end_effector_resampler_node-24process started with pid [9410] ×2 + 12.89sINFOobjective_server_node_main-25process started with pid [9413] ×2 + 12.89sINFOcomponent_container_mt-26process started with pid [9414] ×2 + 12.89sINFOcomponent_container_mt-27process started with pid [9415] ×2 + 12.89sINFOexecute_objective_bridge-28process started with pid [9416] ×2 + 12.89sINFOui_teleop_bridge-29process started with pid [9417] ×2 + 12.89sINFOweb_bridge-30process started with pid [9418] ×2 + 12.89sINFOtf2_web_republisher_node-31process started with pid [9419] ×2 + 12.89sINFOvideo_server-32process started with pid [9420] ×2 + 12.89sINFOweb_bridge_auth_proxy-33process started with pid [9421] ×2 + 12.89sINFOweb_video_auth_proxy-34process started with pid [9422] ×2 + 12.90sINFOcomponent_container_isolated-1process started with pid [9288] ×2 + 12.90sINFOcomponent_container_isolated-2process started with pid [9289] ×2 + 12.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 12.91sINFOstatic_transform_publisher-3process started with pid [9290] ×2 + 12.91sINFOstatic_transform_publisher-4process started with pid [9291] ×2 + 12.91sINFOodom_qos_relay.py-5process started with pid [9292] ×2 + 12.91sINFOscan_to_scan_filter_chain-6process started with pid [9293] ×2 + 12.91sINFOscan_to_scan_filter_chain-7process started with pid [9294] ×2 + 12.91sINFOros2-9process started with pid [9376] ×2 + 12.91sINFOros2-10process started with pid [9377] ×2 + 12.91sINFOros2-11process started with pid [9378] ×2 + 12.91sINFOros2-12process started with pid [9379] ×2 + 12.91sINFOros2-13process started with pid [9380] ×2 + 12.91sINFOros2-14process started with pid [9381] ×2 + 12.91sINFOros2-15process started with pid [9382] ×2 + 12.91sINFOros2-16process started with pid [9383] ×2 + 12.91sINFOros2-17process started with pid [9384] ×2 + 12.91sINFOros2-18process started with pid [9385] ×2 + 12.91sINFOros2-19process started with pid [9386] ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774548 ms (missed cycles : 5). + 12.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 12.96sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 12.96sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 12.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 12.98sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 12.98sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 12.98sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 12.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 12.98sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 12.99sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.00sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.00sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.00sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.00sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.00sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.00sINFOlifecycle_manager_localizationCreating + 13.00sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774548 ms (missed cycles : 5).[0m ×2 + 13.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.06sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.07sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.07sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.07sINFOmap_serverConfiguring + 13.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.08sINFOcontroller_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. + 13.09sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.10sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.10sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.12sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.12sINFOamclConfiguring + 13.12sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.12sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.14sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.14sINFOmap_serverActivating + 13.14sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.20sINFOcontroller_managerReceived robot description from topic. + 13.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.20sINFOrobot_state_publisherRobot initialized + 13.21sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.21sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.21sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.23sINFOcontroller_serverCreating controller server + 13.24sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.24sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.24sINFOamclActivating + 13.24sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.25sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.25sINFOamclSubscribed to map_topic: /map + 13.25sINFOamclSubscribed to scan_topic: /scan_merged + 13.26sINFOamclCreated reinitialize_global_localization service + 13.26sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.26sINFOamclCreated request_nomotion_update service + 13.26sINFOamclA new map was received + 13.26sINFOamclInitializing particle filter instance + 13.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.28sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.29sINFOlocal_costmap.local_costmapCreating Costmap + 13.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.38sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.42sINFOsmoother_serverCreating smoother server + 13.44sINFOvideo_server2026/07/29 17:44:27 INF MediaMTX v1.19.3, linux, amd64 ×2 + 13.44sINFOvideo_server2026/07/29 17:44:27 INF configuration loaded from /tmp/moveit-webrtc-jkkoakns/mediamtx.yml ×2 + 13.44sINFOvideo_server2026/07/29 17:44:27 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 13.44sINFOvideo_server2026/07/29 17:44:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 13.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.52sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.56sINFOplanner_serverCreating + 13.61sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.62sINFOglobal_costmap.global_costmapCreating Costmap + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.66sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.66sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.66sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 13.68sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.74sINFOamclParticle filter initialization completed + 13.74sINFOamclInitializing particles from estimated pose and covariance + 13.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 13.76sINFOlifecycle_manager_localizationServer amcl connected with bond. + 13.76sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 13.76sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 13.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.85sINFOamclThe bond connection to the lifecycle manager is now fully formed + 13.85sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.88sINFObt_navigatorCreating + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.94sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.94sINFOwaypoint_followerCreating + 13.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.00sINFOvelocity_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. + 14.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.05sINFOlifecycle_manager_navigationCreating + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.638447 ms (missed cycles : 6). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.638447 ms (missed cycles : 6).[0m ×2 + 14.06sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.09sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.09sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.10sINFOcontroller_serverConfiguring controller interface + 14.10sINFOcontroller_servergetting progress checker plugins.. + 14.10sINFOcontroller_servergetting goal checker plugins.. + 14.10sINFOcontroller_serverController frequency set to 20.0000Hz + 14.10sINFOlocal_costmap.local_costmapConfiguring + 14.13sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.16sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.19sINFOwaypoint_manager_nodeLoaded robot model in 0.446416 seconds[0m ×2 + 14.19sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.19sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.22sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.514569 seconds + 14.22sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.22sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.22sINFOmove_groupLoaded robot model in 0.514569 seconds[0m ×2 + 14.22sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.22sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.24sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.24sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.25sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.28sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.29sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.29sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.30sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.30sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.33sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.34sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.34sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.35sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.35sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.36sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.36sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.37sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.37sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.38sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.38sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.38sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.39sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.39sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.39sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.39sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.40sINFOcontroller_serverOptimizer reset + 14.42sINFOcontroller_serverController Server has FollowPath controllers available. + 14.44sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.44sINFOsmoother_serverConfiguring smoother server + 14.47sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.47sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.49sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.49sINFOplanner_serverConfiguring + 14.49sINFOglobal_costmap.global_costmapConfiguring + 14.51sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.52sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.52sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.52sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.54sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.59sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.59sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.60sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.64sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.64sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.64sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.64sINFOplanner_serverPlanner Server has GridBased planners available. + 14.66sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.66sINFObehavior_serverConfiguring + 14.66sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.67sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.68sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.69sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.72sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.73sINFObehavior_serverConfiguring spin + 14.75sINFObehavior_serverConfiguring backup + 14.76sINFObehavior_serverConfiguring drive_on_heading + 14.78sINFObehavior_serverConfiguring assisted_teleop + 14.81sINFObehavior_serverConfiguring wait + 14.83sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 14.83sINFObt_navigatorConfiguring + 14.84sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 14.85sWARNbt_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 + 14.93sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.93sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.95sERRORcomponent_container_isolated-1process has died [pid 9288, 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_869zvano --params-file /tmp/launch_params_ndnifulq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 15.00sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 15.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 15.12sINFOwaypoint_manager_node[2026-07-29 17:44:29.455] [moveit_pro_license] [info] ×2 + 15.12sINFOwaypoint_manager_node************************************************* ×4 + 15.12sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 15.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.24sINFOmove_group[2026-07-29 17:44:29.565] [moveit_pro_license] [info] ×2 + 15.24sINFOmove_group************************************************* ×4 + 15.24sINFOmove_group* MoveIt Pro License ×2 + 15.24sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.27sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.27sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929371 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929371 ms (missed cycles : 2).[0m ×2 + 15.51sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.52sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.52sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.67sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.67sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.67sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.67sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.67sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.67sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.67sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.67sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.67sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.67sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.68sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.68sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.68sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.68sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.68sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.68sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.69sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.69sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.69sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.69sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.98sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.00sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.01sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 16.01sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.01sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 16.01sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.02sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.02sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.02sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.02sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.02sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 16.02sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.02sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.02sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.02sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.02sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.02sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.02sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.02sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.02sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.02sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.02sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.02sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.02sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.02sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.02sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.02sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.02sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.02sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.02sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.05sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.05sINFOobjective_server_node[2026-07-29 17:44:30.386] [moveit_pro_license] [info] ×2 + 16.06sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 16.06sINFOobjective_server_node************************************************* ×4 + 16.06sINFOobjective_server_node* MoveIt Pro License ×2 + 16.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.13sINFOobjective_server_nodeLoaded robot model in 0.0224786 seconds[0m ×2 + 16.13sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.13sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.21sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.23sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 16.23sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.26sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.26sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.26sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.26sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.27sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.27sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 16.27sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 16.30sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.30sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.30sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.31sINFOplatform_velocity_controller_nav2configure successful + 16.31sINFOros2_control_nodeconfigure successful[0m ×6 + 16.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.45sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722810 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722810 ms (missed cycles : 2).[0m ×2 + 16.49sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.49sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.49sWARNobjective_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. + 16.49sWARNobjective_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. + 16.49sWARNobjective_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 ×2 + 16.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNobjective_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. + 16.49sWARNobjective_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. + 16.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNobjective_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. + 16.49sWARNobjective_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. + 16.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNobjective_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. + 16.49sWARNobjective_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. + 16.50sWARNobjective_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 ×2 + 16.50sWARNobjective_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. + 16.50sWARNobjective_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. + 16.50sWARNobjective_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 ×2 + 16.50sWARNobjective_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 ×2 + 16.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.55sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 16.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.57sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.57sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.12sINFOmove_groupMoveGroup debug mode is ON + 17.12sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.25sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 17.25sINFOmove_group ×8 + 17.25sINFOmove_group******************************************************** ×4 + 17.25sINFOmove_group* MoveGroup using: ×2 + 17.25sINFOmove_group* - apply_planning_scene_service ×2 + 17.25sINFOmove_group* - clear_octomap_service ×2 + 17.25sINFOmove_group* - get_group_urdf ×2 + 17.25sINFOmove_group* - load_geometry_from_file ×2 + 17.25sINFOmove_group* - get_planning_scene_service ×2 + 17.25sINFOmove_group* - kinematics_service ×2 + 17.25sINFOmove_group* - save_geometry_to_file ×2 + 17.25sINFOmove_group* - GetPlanningGroups ×2 + 17.25sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.25sINFOmove_group[0m ×2 + 17.25sINFOmove_group[92mYou can start planning now![0m ×2 + 17.26sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785347070.477 for reason 'discarding message because the queue is full' + 17.46sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 17.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.47sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 17.47sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 17.50sINFOros2-14process has finished cleanly [pid 9381] ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632690 ms (missed cycles : 3). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632690 ms (missed cycles : 3).[0m ×2 + 17.55sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.55sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.55sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 17.55sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 17.55sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 17.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 17.56sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.57sINFOcontroller_managerSuccessfully switched controllers! ×7 + 17.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 17.57sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.57sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 3.270ms + 17.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.91sINFOros2-11process has finished cleanly [pid 9378] ×2 + 18.01sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.01sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 18.01sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 18.02sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.08sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 18.08sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 18.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.11sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.48sINFOros2_control_node[2026-07-29 17:44:32.814] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.49sINFOros2_control_node[2026-07-29 17:44:32.818] [info] Controller state will be published at 10 Hz. ×2 + 18.49sINFOros2_control_node[2026-07-29 17:44:32.819] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910139 ms (missed cycles : 2). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910139 ms (missed cycles : 2).[0m ×2 + 18.54sINFOcomponent_container_mtLoaded robot model in 2.09663 seconds[0m ×2 + 18.54sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.54sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.83sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.83sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.83sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.83sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 18.84sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.84sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 18.90sINFOros2-16process has finished cleanly [pid 9383] ×2 + 18.92sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.92sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.92sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.92sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.21sINFOcomponent_container_mt[2026-07-29 17:44:33.542] [moveit_pro_license] [info] ×2 + 19.21sINFOcomponent_container_mt************************************************* ×4 + 19.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.29sINFOros2_control_node[2026-07-29 17:44:33.620] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.29sINFOros2_control_node[2026-07-29 17:44:33.621] [info] Controller state will be published at 10 Hz. ×2 + 19.29sINFOros2_control_node[2026-07-29 17:44:33.622] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910858 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910858 ms (missed cycles : 2).[0m ×2 + 19.53sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.53sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.66sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 19.66sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.66sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.67sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.67sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.67sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 19.67sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 19.68sINFOros2-17process has finished cleanly [pid 9384] ×2 + 19.70sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.70sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.71sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.71sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 19.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.03sINFOros2-13process has finished cleanly [pid 9380] ×2 + 20.03sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 20.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.04sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.04sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 20.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 20.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.08sINFOforce_torque_sensor_broadcasterconfigure successful + 20.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.09sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.48sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.48sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 20.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.49sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 20.51sINFOros2-9process has finished cleanly [pid 9376] ×2 + 20.56sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.56sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.57sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901736 ms (missed cycles : 2). + 20.57sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901736 ms (missed cycles : 2).[0m ×2 + 20.57sINFOplatform_velocity_controllerconfigure successful + 20.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.58sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.58sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.89sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.89sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.89sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.89sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.94sINFOros2-12process has finished cleanly [pid 9379] ×2 + 20.97sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 20.97sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 21.04sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 21.04sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 21.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.40sINFOros2_control_node[2026-07-29 17:44:35.728] [info] Controller state will be published at 20 Hz. ×2 + 21.40sINFOros2_control_node[2026-07-29 17:44:35.729] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766264 ms (missed cycles : 3). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766264 ms (missed cycles : 3).[0m ×2 + 21.77sINFOros2-19process has finished cleanly [pid 9386] ×2 + 21.77sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 22.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 22.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.12sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.13sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.51sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 22.51sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 22.51sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 22.51sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 22.51sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 22.52sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 22.52sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 22.52sINFOros2-15process has finished cleanly [pid 9382] ×2 + 22.54sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 22.54sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 22.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 22.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 22.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 22.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 22.57sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 22.57sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559130 ms (missed cycles : 3). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559130 ms (missed cycles : 3).[0m ×2 + 22.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 22.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x + 22.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 22.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d8mj_wim --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_c29o4ml9 --params-file /tmp/launch_params_co_mbt_x [0m ×2 + 23.01sINFOros2-10process has finished cleanly [pid 9377] ×2 + 23.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 23.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 23.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 23.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 23.43sINFOros2_control_node[2026-07-29 17:44:37.759] [info] Controller state will be published at 20 Hz. ×2 + 23.43sINFOros2_control_node[2026-07-29 17:44:37.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474644 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474644 ms (missed cycles : 2).[0m ×2 + 23.78sINFOros2-18process has finished cleanly [pid 9385] ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 26.07sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 28.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.62sINFOmove_groupClearing octomap...[0m ×2 + 28.63sINFOmove_groupOctomap cleared.[0m ×2 + 28.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 29.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 29.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 29.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 30.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 30.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 30.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 30.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 30.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.2s | 3 errors · 231 warnings · 209 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.189ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229682 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229682 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.068ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724459 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724459 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 4125 particles 723 points - 5.175ms + 2.00sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 4.958ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.425056 ms (missed cycles : 6). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.425056 ms (missed cycles : 6).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 2742 particles 723 points - 4.114ms + 3.00sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.364ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140896 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140896 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.622ms + 3.82sINFOobjective_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 + 3.82sINFOjoint_trajectory_controllerGot request to cancel goal + 3.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.83sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.84sERRORobjective_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: 1785347291.43989611 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.897ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.415ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785347292.00101280 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069929 ms (missed cycles : 7). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069929 ms (missed cycles : 7).[0m ×2 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.261ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.355ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.506ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382520 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382520 ms (missed cycles : 3).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.945ms + 6.01sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.215ms + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279525 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279525 ms (missed cycles : 4).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 4962 particles 723 points - 6.700ms + 7.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.367ms + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765008 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765008 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681593 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681593 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 5.380ms + 9.40sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.524ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659065 ms (missed cycles : 5). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659065 ms (missed cycles : 5).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.230ms + 10.40sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.141ms + 10.90sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.336ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316522 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316522 ms (missed cycles : 3).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075911 ms (missed cycles : 4). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075911 ms (missed cycles : 4).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239392 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239392 ms (missed cycles : 2).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143803 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143803 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754951 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754951 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637971 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637971 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.061456 ms (missed cycles : 7). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.061456 ms (missed cycles : 7).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088642 ms (missed cycles : 4). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088642 ms (missed cycles : 4).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159310 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159310 ms (missed cycles : 2).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322454 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322454 ms (missed cycles : 2).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.823499 ms (missed cycles : 6). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.823499 ms (missed cycles : 6).[0m ×2 + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412456 ms (missed cycles : 3). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412456 ms (missed cycles : 3).[0m ×2 + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676497 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676497 ms (missed cycles : 2).[0m ×2 + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615332 ms (missed cycles : 6). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615332 ms (missed cycles : 6).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094796 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094796 ms (missed cycles : 2).[0m ×2 + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991881 ms (missed cycles : 5). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991881 ms (missed cycles : 5).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837260 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837260 ms (missed cycles : 2).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143869 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143869 ms (missed cycles : 2).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436735 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436735 ms (missed cycles : 2).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392081 ms (missed cycles : 3). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392081 ms (missed cycles : 3).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191016 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191016 ms (missed cycles : 4).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053766 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053766 ms (missed cycles : 2).[0m ×2 + 32.82sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.36sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.36sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564849 ms (missed cycles : 3). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564849 ms (missed cycles : 3).[0m ×2 + 33.60sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.34sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282627 ms (missed cycles : 5). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282627 ms (missed cycles : 5).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431206 ms (missed cycles : 3). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431206 ms (missed cycles : 3).[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424728 ms (missed cycles : 2). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424728 ms (missed cycles : 2).[0m ×2 + 36.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 37.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357677 ms (missed cycles : 3). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357677 ms (missed cycles : 3).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398395 ms (missed cycles : 4). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398395 ms (missed cycles : 4).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710196 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710196 ms (missed cycles : 2).[0m ×2 + 40.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471236 ms (missed cycles : 4). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471236 ms (missed cycles : 4).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568847 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568847 ms (missed cycles : 3).[0m ×2 + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577968 ms (missed cycles : 3). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577968 ms (missed cycles : 3).[0m ×2 + 43.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.967969 ms (missed cycles : 6). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.967969 ms (missed cycles : 6).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199200 ms (missed cycles : 4). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199200 ms (missed cycles : 4).[0m ×2 + 45.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688900 ms (missed cycles : 5). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688900 ms (missed cycles : 5).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074992 ms (missed cycles : 4). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074992 ms (missed cycles : 4).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181772 ms (missed cycles : 2). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181772 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256266 ms (missed cycles : 3). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256266 ms (missed cycles : 3).[0m ×2 + 50.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465140 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465140 ms (missed cycles : 2).[0m ×2 + 50.62sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153990 ms (missed cycles : 4). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153990 ms (missed cycles : 4).[0m ×2 + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.672945 ms (missed cycles : 7). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.672945 ms (missed cycles : 7).[0m ×2 + 53.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801258 ms (missed cycles : 5). + 53.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801258 ms (missed cycles : 5).[0m ×2 + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981298 ms (missed cycles : 3). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981298 ms (missed cycles : 3).[0m ×2 + 55.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 55.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748063 ms (missed cycles : 3). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748063 ms (missed cycles : 3).[0m ×2 + 55.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 56.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699923 ms (missed cycles : 2). + 56.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699923 ms (missed cycles : 2).[0m ×2 + 57.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 57.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 58.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030011 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030011 ms (missed cycles : 3).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 59.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192623 ms (missed cycles : 2). + 59.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192623 ms (missed cycles : 2).[0m ×2 + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.630636 ms (missed cycles : 6). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.630636 ms (missed cycles : 6).[0m ×2 + 61.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 61.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914093 ms (missed cycles : 4). + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914093 ms (missed cycles : 4).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 62.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727382 ms (missed cycles : 3). + 62.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727382 ms (missed cycles : 3).[0m ×2 + 63.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033073 ms (missed cycles : 3). + 63.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033073 ms (missed cycles : 3).[0m ×2 + 63.77sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 64.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519333 ms (missed cycles : 3). + 64.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519333 ms (missed cycles : 3).[0m ×2 + 65.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 65.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897176 ms (missed cycles : 2). + 65.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897176 ms (missed cycles : 2).[0m ×2 + 66.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906326 ms (missed cycles : 3). + 66.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906326 ms (missed cycles : 3).[0m ×2 + 67.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109280 ms (missed cycles : 2). + 67.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109280 ms (missed cycles : 2).[0m ×2 + 68.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 68.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997488 ms (missed cycles : 2). + 68.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997488 ms (missed cycles : 2).[0m ×2 + 69.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 69.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273405 ms (missed cycles : 2). + 69.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273405 ms (missed cycles : 2).[0m ×2 + 70.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 70.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388239 ms (missed cycles : 4). + 70.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388239 ms (missed cycles : 4).[0m ×2 + 71.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 71.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580763 ms (missed cycles : 3). + 71.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580763 ms (missed cycles : 3).[0m ×2 + 72.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 72.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890660 ms (missed cycles : 3). + 72.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890660 ms (missed cycles : 3).[0m ×2 + 73.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881126 ms (missed cycles : 2). + 73.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881126 ms (missed cycles : 2).[0m ×2 + 74.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 74.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 74.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810974 ms (missed cycles : 5). + 75.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810974 ms (missed cycles : 5).[0m ×2 + 75.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 76.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759522 ms (missed cycles : 3). + 76.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759522 ms (missed cycles : 3).[0m ×2 + 77.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785347364.66168833 seconds ×3 + 77.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881452 ms (missed cycles : 6). + 77.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881452 ms (missed cycles : 6).[0m ×2 + 77.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.501ms + 77.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.717ms + 77.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.730ms + 77.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785347365.21704125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 78.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 78.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 79.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 79.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 79.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 186 warnings · 165 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785347128.48670912 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785347129.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.4141e-05 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905748 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905748 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785347132.14113188 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785347132.69958949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.792235 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.792235 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610470 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610470 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095424 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095424 ms (missed cycles : 4).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653607 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653607 ms (missed cycles : 2).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 4.900ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874490 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874490 ms (missed cycles : 2).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.557ms + 9.54sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.595ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521877 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521877 ms (missed cycles : 3).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 10.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075221 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075221 ms (missed cycles : 2).[0m ×2 + 11.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570997 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570997 ms (missed cycles : 2).[0m ×2 + 11.95sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 12.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080758 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080758 ms (missed cycles : 2).[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564759 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564759 ms (missed cycles : 3).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058666 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058666 ms (missed cycles : 3).[0m ×2 + 15.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898613 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898613 ms (missed cycles : 3).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086413 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086413 ms (missed cycles : 4).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 17.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837976 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837976 ms (missed cycles : 2).[0m ×2 + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574182 ms (missed cycles : 4). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574182 ms (missed cycles : 4).[0m ×2 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093322 ms (missed cycles : 4). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093322 ms (missed cycles : 4).[0m ×2 + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147851 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147851 ms (missed cycles : 2).[0m ×2 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 22.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.786114 ms (missed cycles : 7). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.786114 ms (missed cycles : 7).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260124 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260124 ms (missed cycles : 2).[0m ×2 + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.864943 ms (missed cycles : 8). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.864943 ms (missed cycles : 8).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 25.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084261 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084261 ms (missed cycles : 3).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.262ms + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231622 ms (missed cycles : 4). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231622 ms (missed cycles : 4).[0m ×2 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021369 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021369 ms (missed cycles : 2).[0m ×2 + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708170 ms (missed cycles : 2). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708170 ms (missed cycles : 2).[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867167 ms (missed cycles : 3). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867167 ms (missed cycles : 3).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623120 ms (missed cycles : 2). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623120 ms (missed cycles : 2).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447044 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447044 ms (missed cycles : 3).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363242 ms (missed cycles : 4). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363242 ms (missed cycles : 4).[0m ×2 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 33.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305782 ms (missed cycles : 4). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305782 ms (missed cycles : 4).[0m ×2 + 33.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907673 ms (missed cycles : 2). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907673 ms (missed cycles : 2).[0m ×2 + 35.18sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949582 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949582 ms (missed cycles : 2).[0m ×2 + 36.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365340 ms (missed cycles : 4). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365340 ms (missed cycles : 4).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877618 ms (missed cycles : 5). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877618 ms (missed cycles : 5).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232444 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232444 ms (missed cycles : 2).[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993866 ms (missed cycles : 3). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993866 ms (missed cycles : 3).[0m ×2 + 40.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786571 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786571 ms (missed cycles : 2).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666212 ms (missed cycles : 3). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666212 ms (missed cycles : 3).[0m ×2 + 42.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267272 ms (missed cycles : 2). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267272 ms (missed cycles : 2).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287577 ms (missed cycles : 2). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287577 ms (missed cycles : 2).[0m ×2 + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014251 ms (missed cycles : 4). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014251 ms (missed cycles : 4).[0m ×2 + 45.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993926 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993926 ms (missed cycles : 2).[0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.083026 ms (missed cycles : 7). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.083026 ms (missed cycles : 7).[0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006766 ms (missed cycles : 2). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006766 ms (missed cycles : 2).[0m ×2 + 48.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764333 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764333 ms (missed cycles : 2).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471428 ms (missed cycles : 3). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471428 ms (missed cycles : 3).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790407 ms (missed cycles : 3). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790407 ms (missed cycles : 3).[0m ×2 + 52.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903387 ms (missed cycles : 2). + 52.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903387 ms (missed cycles : 2).[0m ×2 + 52.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 53.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213471 ms (missed cycles : 7). + 53.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213471 ms (missed cycles : 7).[0m ×2 + 54.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285646 ms (missed cycles : 2). + 54.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285646 ms (missed cycles : 2).[0m ×2 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705217 ms (missed cycles : 2). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705217 ms (missed cycles : 2).[0m ×2 + 56.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602873 ms (missed cycles : 3). + 56.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602873 ms (missed cycles : 3).[0m ×2 + 56.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 57.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 57.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 58.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 58.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 60.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 60.79sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 60.95sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 61.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 61.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 61.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 61.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 61.70sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 61.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 63.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 63.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 63.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.7s | 186 warnings · 142 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251515 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251515 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335038 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335038 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.112ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.283ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742538 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742538 ms (missed cycles : 4).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.332ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.716ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297094 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297094 ms (missed cycles : 2).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.624ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379869 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379869 ms (missed cycles : 2).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.517ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.070ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921231 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921231 ms (missed cycles : 2).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.592ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069471 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069471 ms (missed cycles : 3).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.670ms + 14.40sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 5.950ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.100409 ms (missed cycles : 7). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.100409 ms (missed cycles : 7).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 5.231ms + 14.93sINFOros2_control_nodeMuJoCo sim: 1.20% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 4.428ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510838 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510838 ms (missed cycles : 3).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 4.120ms + 16.40sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 3.496ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594446 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594446 ms (missed cycles : 3).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.040ms + 17.40sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.752ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906332 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906332 ms (missed cycles : 2).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 2.222ms + 18.40sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.602ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779873 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779873 ms (missed cycles : 2).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.768ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980642 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980642 ms (missed cycles : 3).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267233 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267233 ms (missed cycles : 2).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179432 ms (missed cycles : 2). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179432 ms (missed cycles : 2).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269732 ms (missed cycles : 4). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269732 ms (missed cycles : 4).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043710 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043710 ms (missed cycles : 3).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368634 ms (missed cycles : 2). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368634 ms (missed cycles : 2).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551980 ms (missed cycles : 2). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551980 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718470 ms (missed cycles : 2). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718470 ms (missed cycles : 2).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232797 ms (missed cycles : 5). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232797 ms (missed cycles : 5).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021692 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021692 ms (missed cycles : 3).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.846528 ms (missed cycles : 5). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.846528 ms (missed cycles : 5).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473801 ms (missed cycles : 3). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473801 ms (missed cycles : 3).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916352 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916352 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055406 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055406 ms (missed cycles : 2).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.168332 ms (missed cycles : 6). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.168332 ms (missed cycles : 6).[0m ×2 + 35.09sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527701 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527701 ms (missed cycles : 3).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427954 ms (missed cycles : 4). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427954 ms (missed cycles : 4).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297778 ms (missed cycles : 2). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297778 ms (missed cycles : 2).[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521610 ms (missed cycles : 4). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521610 ms (missed cycles : 4).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936003 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936003 ms (missed cycles : 2).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850405 ms (missed cycles : 2). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850405 ms (missed cycles : 2).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679400 ms (missed cycles : 3). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679400 ms (missed cycles : 3).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741725 ms (missed cycles : 2). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741725 ms (missed cycles : 2).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248821 ms (missed cycles : 2). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248821 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399929 ms (missed cycles : 3). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399929 ms (missed cycles : 3).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219423 ms (missed cycles : 4). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219423 ms (missed cycles : 4).[0m ×2 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322461 ms (missed cycles : 4). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322461 ms (missed cycles : 4).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.638069 ms (missed cycles : 6). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.638069 ms (missed cycles : 6).[0m ×2 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122338 ms (missed cycles : 5). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122338 ms (missed cycles : 5).[0m ×2 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578028 ms (missed cycles : 2). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578028 ms (missed cycles : 2).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138849 ms (missed cycles : 4). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138849 ms (missed cycles : 4).[0m ×2 + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.410388 ms (missed cycles : 6). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.410388 ms (missed cycles : 6).[0m ×2 + 53.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775335 ms (missed cycles : 2). + 53.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775335 ms (missed cycles : 2).[0m ×2 + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748202 ms (missed cycles : 2). + 54.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748202 ms (missed cycles : 2).[0m ×2 + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775083 ms (missed cycles : 3). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775083 ms (missed cycles : 3).[0m ×2 + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444500 ms (missed cycles : 3). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444500 ms (missed cycles : 3).[0m ×2 + 57.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642768 ms (missed cycles : 2). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642768 ms (missed cycles : 2).[0m ×2 + 58.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612846 ms (missed cycles : 2). + 58.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612846 ms (missed cycles : 2).[0m ×2 + 59.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272926 ms (missed cycles : 4). + 59.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272926 ms (missed cycles : 4).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 60.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936190 ms (missed cycles : 6). + 60.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936190 ms (missed cycles : 6).[0m ×2 + 60.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785347426.21088672 seconds ×3 + 60.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.109ms + 61.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.363ms + 61.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785347426.78229952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429349 ms (missed cycles : 6). + 61.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429349 ms (missed cycles : 6).[0m ×2 + 61.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 61.69sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 61.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.222ms + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541621 ms (missed cycles : 6). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541621 ms (missed cycles : 6).[0m ×2 + 62.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977052 ms (missed cycles : 3). + 63.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977052 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.0s | 180 warnings · 169 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 3.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.97sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785347225.89368033 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.539ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785347226.47263718 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 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.279ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.631ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3).[0m ×2 + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.452ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404210 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404210 ms (missed cycles : 2).[0m ×2 + 7.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.978ms + 7.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.364ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490159 ms (missed cycles : 6). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490159 ms (missed cycles : 6).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.358ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466379 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466379 ms (missed cycles : 2).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.619ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864963 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864963 ms (missed cycles : 2).[0m ×2 + 10.44sINFOamclParticle filter update iteration stats: 4404 particles 723 points - 9.542ms + 10.93sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 3.521ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102579 ms (missed cycles : 7). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102579 ms (missed cycles : 7).[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.963ms + 11.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698878 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698878 ms (missed cycles : 2).[0m ×2 + 12.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135911 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135911 ms (missed cycles : 2).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309491 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309491 ms (missed cycles : 3).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905258 ms (missed cycles : 6). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905258 ms (missed cycles : 6).[0m ×2 + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682913 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682913 ms (missed cycles : 3).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494977 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494977 ms (missed cycles : 2).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069363 ms (missed cycles : 4). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069363 ms (missed cycles : 4).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579298 ms (missed cycles : 4). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579298 ms (missed cycles : 4).[0m ×2 + 19.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms ×2 + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487228 ms (missed cycles : 3). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487228 ms (missed cycles : 3).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534530 ms (missed cycles : 5). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534530 ms (missed cycles : 5).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397129 ms (missed cycles : 4). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397129 ms (missed cycles : 4).[0m ×2 + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 23.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277780 ms (missed cycles : 2). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277780 ms (missed cycles : 2).[0m ×2 + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372641 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372641 ms (missed cycles : 3).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070407 ms (missed cycles : 2). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070407 ms (missed cycles : 2).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015056 ms (missed cycles : 5). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015056 ms (missed cycles : 5).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142439 ms (missed cycles : 2). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142439 ms (missed cycles : 2).[0m ×2 + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658345 ms (missed cycles : 4). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658345 ms (missed cycles : 4).[0m ×2 + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700666 ms (missed cycles : 5). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700666 ms (missed cycles : 5).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309004 ms (missed cycles : 4). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309004 ms (missed cycles : 4).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779598 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779598 ms (missed cycles : 2).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298081 ms (missed cycles : 3). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298081 ms (missed cycles : 3).[0m ×2 + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254105 ms (missed cycles : 4). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254105 ms (missed cycles : 4).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834579 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834579 ms (missed cycles : 3).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710278 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710278 ms (missed cycles : 2).[0m ×2 + 36.51sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142267 ms (missed cycles : 4). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142267 ms (missed cycles : 4).[0m ×2 + 37.18sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169566 ms (missed cycles : 2). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169566 ms (missed cycles : 2).[0m ×2 + 38.55sINFOros2_control_nodeMuJoCo sim: 0.91% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868557 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868557 ms (missed cycles : 2).[0m ×2 + 39.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 39.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.917332 ms (missed cycles : 6). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.917332 ms (missed cycles : 6).[0m ×2 + 40.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 40.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 41.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194718 ms (missed cycles : 2). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194718 ms (missed cycles : 2).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572763 ms (missed cycles : 2). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572763 ms (missed cycles : 2).[0m ×2 + 42.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335323 ms (missed cycles : 3). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335323 ms (missed cycles : 3).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059666 ms (missed cycles : 4). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059666 ms (missed cycles : 4).[0m ×2 + 45.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708664 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708664 ms (missed cycles : 3).[0m ×2 + 45.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351722 ms (missed cycles : 6). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351722 ms (missed cycles : 6).[0m ×2 + 46.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069598 ms (missed cycles : 4). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069598 ms (missed cycles : 4).[0m ×2 + 47.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 48.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860735 ms (missed cycles : 3). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860735 ms (missed cycles : 3).[0m ×2 + 49.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533715 ms (missed cycles : 3). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533715 ms (missed cycles : 3).[0m ×2 + 50.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215358 ms (missed cycles : 2). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215358 ms (missed cycles : 2).[0m ×2 + 51.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147627 ms (missed cycles : 4). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147627 ms (missed cycles : 4).[0m ×2 + 52.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025526 ms (missed cycles : 3). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025526 ms (missed cycles : 3).[0m ×2 + 53.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770439 ms (missed cycles : 2). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770439 ms (missed cycles : 2).[0m ×2 + 54.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855952 ms (missed cycles : 5). + 54.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855952 ms (missed cycles : 5).[0m ×2 + 54.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148993 ms (missed cycles : 6). + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148993 ms (missed cycles : 6).[0m ×2 + 55.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849550 ms (missed cycles : 3). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849550 ms (missed cycles : 3).[0m ×2 + 57.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195069 ms (missed cycles : 2). + 57.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195069 ms (missed cycles : 2).[0m ×2 + 58.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166209 ms (missed cycles : 2). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166209 ms (missed cycles : 2).[0m ×2 + 58.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785347280.86278152 seconds ×3 + 59.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.720ms + 59.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 59.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 59.55sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785347281.41583991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.517ms + 59.92sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 59.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292405 ms (missed cycles : 4). + 59.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292405 ms (missed cycles : 4).[0m ×2 + 60.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 60.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.337ms + 60.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 60.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948528 ms (missed cycles : 6). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948528 ms (missed cycles : 6).[0m ×2 + 61.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.990ms + 61.16sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.86sINFOmove_groupClearing octomap...[0m ×2 + 1.86sINFOmove_groupOctomap cleared.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704935 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704935 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499916 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499916 ms (missed cycles : 5).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292435 ms (missed cycles : 4). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292435 ms (missed cycles : 4).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833372 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833372 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559122 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559122 ms (missed cycles : 3).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943790 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943790 ms (missed cycles : 3).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344561 ms (missed cycles : 3). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344561 ms (missed cycles : 3).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663821 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663821 ms (missed cycles : 3).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472190 ms (missed cycles : 3). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472190 ms (missed cycles : 3).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102832 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102832 ms (missed cycles : 4).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760010 ms (missed cycles : 5). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760010 ms (missed cycles : 5).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423049 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423049 ms (missed cycles : 2).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.562159 ms (missed cycles : 7). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.562159 ms (missed cycles : 7).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673920 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673920 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 2.368ms + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736867 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736867 ms (missed cycles : 2).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134149 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134149 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354618 ms (missed cycles : 3). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354618 ms (missed cycles : 3).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274914 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274914 ms (missed cycles : 2).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879430 ms (missed cycles : 4). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879430 ms (missed cycles : 4).[0m ×2 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906492 ms (missed cycles : 5). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906492 ms (missed cycles : 5).[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376719 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376719 ms (missed cycles : 3).[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532166 ms (missed cycles : 4). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532166 ms (missed cycles : 4).[0m ×2 + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481866 ms (missed cycles : 3). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481866 ms (missed cycles : 3).[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036492 ms (missed cycles : 2). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036492 ms (missed cycles : 2).[0m ×2 + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103599 ms (missed cycles : 3). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103599 ms (missed cycles : 3).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664307 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664307 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.396559 ms (missed cycles : 7). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.396559 ms (missed cycles : 7).[0m ×2 + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390400 ms (missed cycles : 6). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390400 ms (missed cycles : 6).[0m ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323282 ms (missed cycles : 3). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323282 ms (missed cycles : 3).[0m ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505116 ms (missed cycles : 5). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505116 ms (missed cycles : 5).[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560804 ms (missed cycles : 3). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560804 ms (missed cycles : 3).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895008 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895008 ms (missed cycles : 2).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990291 ms (missed cycles : 5). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990291 ms (missed cycles : 5).[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132733 ms (missed cycles : 3). + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132733 ms (missed cycles : 3).[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374540 ms (missed cycles : 2). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374540 ms (missed cycles : 2).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704429 ms (missed cycles : 2). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704429 ms (missed cycles : 2).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4).[0m ×2 + 47.36sINFOjoint_trajectory_controllerGoal reached, success! + 47.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785347128.48670912 seconds ×3 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2).[0m ×2 + 47.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785347129.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2).[0m ×2 + 48.91sINFOobjective_server_nodeFound path in 0 iterations (2.4141e-05 s). ×2 + 48.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.0s | 111 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877551 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877551 ms (missed cycles : 3).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.123ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785347193.84435654 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007713 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007713 ms (missed cycles : 3).[0m ×2 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242986 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242986 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785347195.40353107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382625 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382625 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703199 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703199 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521236 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521236 ms (missed cycles : 3).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758809 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758809 ms (missed cycles : 2).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 9.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.345ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035134 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035134 ms (missed cycles : 2).[0m ×2 + 9.59sINFOros2_control_nodeMuJoCo sim: 0.78% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.627ms + 10.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.611ms + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032684 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032684 ms (missed cycles : 2).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.410ms + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.860ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913526 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913526 ms (missed cycles : 2).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.042ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684905 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684905 ms (missed cycles : 2).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 13.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.548ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905254 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905254 ms (missed cycles : 2).[0m ×2 + 13.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.105ms + 14.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.517ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196188 ms (missed cycles : 4). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196188 ms (missed cycles : 4).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.194ms + 15.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.229ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782663 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782663 ms (missed cycles : 2).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.773ms + 16.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.028ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163571 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163571 ms (missed cycles : 2).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.280ms + 17.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.407ms + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351941 ms (missed cycles : 7). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351941 ms (missed cycles : 7).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 18.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.998ms + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839946 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839946 ms (missed cycles : 2).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.370ms + 19.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709085 ms (missed cycles : 5). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709085 ms (missed cycles : 5).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.610ms + 20.28sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 5.490ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088914 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088914 ms (missed cycles : 2).[0m ×2 + 20.78sINFOamclParticle filter update iteration stats: 4373 particles 723 points - 6.319ms + 21.28sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 5.203ms + 21.78sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 4.789ms + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836271 ms (missed cycles : 2). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836271 ms (missed cycles : 2).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 4.281ms + 22.78sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 4.044ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903652 ms (missed cycles : 3). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903652 ms (missed cycles : 3).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 2586 particles 723 points - 2.913ms + 23.78sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 3.030ms + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723418 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723418 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.196ms + 24.77sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.661ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956790 ms (missed cycles : 4). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956790 ms (missed cycles : 4).[0m ×2 + 25.27sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.558ms + 25.77sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.837ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271126 ms (missed cycles : 3). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271126 ms (missed cycles : 3).[0m ×2 + 26.27sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.406ms + 26.77sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 2.232ms + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468794 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468794 ms (missed cycles : 3).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.601ms + 27.77sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.660ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721010 ms (missed cycles : 3). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721010 ms (missed cycles : 3).[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987358 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987358 ms (missed cycles : 2).[0m ×2 + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852934 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852934 ms (missed cycles : 2).[0m ×2 + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2).[0m ×2 + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2).[0m ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6).[0m ×2 + 34.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 35.07sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785347225.89368033 seconds ×3 + 35.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5).[0m ×2 + 35.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.539ms + 35.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms + 35.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785347226.47263718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 36.02sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 36.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.279ms + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2).[0m ×2 + 36.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.631ms + 36.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 37.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3).[0m ×2 + 37.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 37.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.2s | 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642768 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642768 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612846 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612846 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272926 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272926 ms (missed cycles : 4).[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936190 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936190 ms (missed cycles : 6).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785347426.21088672 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.109ms + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.363ms + 4.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785347426.78229952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429349 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429349 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×4 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.222ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541621 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541621 ms (missed cycles : 6).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977052 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977052 ms (missed cycles : 3).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.399ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751496 ms (missed cycles : 6). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751496 ms (missed cycles : 6).[0m ×2 + 7.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.696ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707736 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707736 ms (missed cycles : 2).[0m ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 9.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.29sINFOobjective_server_nodeFound path in 69 iterations (0.051342 s). ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905631 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905631 ms (missed cycles : 2).[0m ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480522 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480522 ms (missed cycles : 3).[0m ×2 + 10.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771522 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771522 ms (missed cycles : 2).[0m ×2 + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.432ms + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072990 ms (missed cycles : 4). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072990 ms (missed cycles : 4).[0m ×2 + 13.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.486ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498703 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498703 ms (missed cycles : 3).[0m ×2 + 13.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.092ms + 14.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7).[0m ×2 + 14.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.099ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.248ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3).[0m ×2 + 16.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785347439.39794898 seconds ×3 + 16.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 17.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 17.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785347439.99073577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.26sINFOmove_groupClearing octomap...[0m ×2 + 17.26sINFOmove_groupOctomap cleared.[0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2).[0m ×2 + 17.70sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 17.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785347440.58090234 seconds ×3 + 18.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.781ms + 18.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.026ms + 18.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785347441.12773800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.124ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2).[0m ×2 + 18.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785347441.66028094 seconds ×3 + 18.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 19.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.197ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 87 errors · 33 warnings · 385 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.099ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.248ms + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785347439.39794898 seconds ×3 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 2.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785347439.99073577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2).[0m ×2 + 3.43sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785347440.58090234 seconds ×3 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.781ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.026ms + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785347441.12773800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.124ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785347441.66028094 seconds ×3 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 4.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.197ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030360 ms (missed cycles : 2). + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.902ms + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030360 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778119 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778119 ms (missed cycles : 4).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.669261 ms (missed cycles : 6). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.669261 ms (missed cycles : 6).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787657 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787657 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827930 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827930 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487110 ms (missed cycles : 6). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487110 ms (missed cycles : 6).[0m ×2 + 10.72sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 10.80sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORweb_video_auth_proxy-34process has died [pid 9422, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.80sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 10.83sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORweb_bridge_auth_proxy-33process has died [pid 9421, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.84sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 10.87sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 10.89sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 10.91sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 10.94sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 10.96sINFOvideo_server-32process has finished cleanly [pid 9420] ×2 + 10.96sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.98sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.01sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.03sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.05sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.08sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.11sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.12sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9419] ×2 + 11.13sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.16sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.16sINFOcontroller_managerShutdown request received.... + 11.16sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.16sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.16sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.16sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.16sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.16sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.16sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.16sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.16sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.16sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.16sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.16sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.17sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.17sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.17sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.17sINFOcontroller_managerShutting down the controller manager. + 11.19sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.21sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.21sERRORmove_group-20process has died [pid 9387, 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_ydwnjj7u --params-file /tmp/launch_params_4pibdgzg --params-file /tmp/launch_params_sg9hk937 --params-file /tmp/launch_params_h7_8irya --params-file /tmp/launch_params_ox7x3q0j --params-file /tmp/launch_params_ttzqri5z']. ×2 + 11.21sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 11.21sERRORui_teleop_bridge-29process has died [pid 9417, 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_wk0kdvzb']. ×2 + 11.23sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.25sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.28sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.30sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.30sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.30sINFOmap_serverDeactivating + 11.30sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.30sINFOexecute_objective_bridge-28process has finished cleanly [pid 9416] ×2 + 11.30sINFOvideo_server2026/07/29 17:50:47 INF shutting down gracefully ×2 + 11.31sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOvideo_server2026/07/29 17:50:47 INF [WebRTC] closing ×2 + 11.31sINFOvideo_server2026/07/29 17:50:47 INF [RTSP] closing ×2 + 11.31sINFOvideo_server2026/07/29 17:50:47 INF waiting for running hooks ×2 + 11.31sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.31sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.31sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.31sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.31sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.31sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.31sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.31sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.31sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmap_serverCleaning up + 11.31sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.31sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.31sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sERRORobjective_server_node_main-25process has died [pid 9413, 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_e83szw8m --params-file /tmp/launch_params_bg8jbgo5 --params-file /tmp/launch_params_dkjlmm33 --params-file /tmp/launch_params_c2yg_np_ --params-file /tmp/launch_params_es6n2mfi --params-file /tmp/launch_params_ed60dddq --params-file /tmp/launch_params_84m34k6h --params-file /tmp/launch_params_5kt9rduz --params-file /tmp/launch_params_c2e86w85']. ×2 + 11.32sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.32sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.32sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.32sERRORmove_groupStack trace (most recent call last) in thread 10008: ×2 + 11.32sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.32sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2912468a63, in __clone ×2 + 11.32sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29123dbaa3, in ×2 + 11.32sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f291266ddb3, in ×2 + 11.32sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f2912db0ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.32sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f29129e04d0, in rclcpp::Rate::sleep() ×2 + 11.32sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2912933a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.32sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f29128f8a71, in ×2 + 11.32sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f291263c390, in __cxa_throw ×2 + 11.32sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2912626a54, in std::terminate() ×2 + 11.32sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f291263c0d9, in ×2 + 11.32sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2912626ff4, in ×2 + 11.32sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29123678fe, in abort ×2 + 11.32sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f291238427d, in raise ×2 + 11.32sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f29123ddb2c, in pthread_kill ×2 + 11.32sERRORmove_groupAborted (Signal sent by tkill() 9387 0) ×2 + 11.32sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.32sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.33sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.33sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.33sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.33sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.33sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.33sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.33sINFOobjective_server_node[2026-07-29 17:50:48.186] [moveit_pro_license] [info] ×2 + 11.33sINFOobjective_server_node************************************************* ×4 + 11.33sINFOobjective_server_node* MoveIt Pro License ×2 + 11.33sINFOobjective_server_node* Application has successfully terminated ×2 + 11.33sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.33sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.33sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.33sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.33sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dc6d9d76a4, in _start ×2 + 11.33sERRORamclThe bond connection to the lifecycle manager has been broken + 11.33sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fabe307528a, in __libc_start_main ×2 + 11.33sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fabe30751d0, in ×2 + 11.33sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fabe3092bbd, in exit ×2 + 11.33sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fabe3092a75, in ×2 + 11.33sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fabe35618f5, in spdlog::details::registry::~registry() ×2 + 11.33sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dc6d9d7d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dc6d9de315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.33sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dc6d9dd5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.33sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dc6d9d9b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.33sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dc6d9d7d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fabe3c1b454, in rclcpp::Node::~Node() ×2 + 11.33sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fabe3bd6515, in ×2 + 11.33sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fabe3c19d20, in ×2 + 11.33sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fabe3c19c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.33sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fabe3bd65d9, in ×2 + 11.33sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fabe3bdb161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.33sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fab93ecc3e0]) ×2 + 11.34sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.34sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.34sINFOodom_qos_relay.pymain() ×2 + 11.34sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.34sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.34sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.34sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.34sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.34sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.34sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.34sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.34sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.34sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.38sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.38sINFOros2_control_nodepublish_async_failures_ 9[0m ×2 + 11.38sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.53sERRORcomponent_container_isolated-2process has died [pid 9289, 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_869zvano --params-file /tmp/launch_params_rkf1pem7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.08sINFOcomponent_container_mt-27process has finished cleanly [pid 9415] ×2 + 12.08sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9410] ×2 + 12.11sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9390] ×2 + 12.18sINFOparameter_manager_node-21process has finished cleanly [pid 9388] ×2 + 12.19sINFOwaypoint_manager_node-22process has finished cleanly [pid 9389] ×2 + 12.20sINFOcomponent_container_mt-26process has finished cleanly [pid 9414] ×2 + 12.23sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9294] ×2 + 12.25sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9293] ×2 + 12.29sINFOstatic_transform_publisher-4process has finished cleanly [pid 9291] ×2 + 12.32sINFOstatic_transform_publisher-3process has finished cleanly [pid 9290] ×2 + 12.33sERRORodom_qos_relay.py-5process has died [pid 9292, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.74sINFOweb_bridge-30process has finished cleanly [pid 9418] ×2 + 13.74sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 13.97sINFOros2_control_node-8process has finished cleanly [pid 9295] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 51 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148993 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148993 ms (missed cycles : 6).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849550 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849550 ms (missed cycles : 3).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195069 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195069 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166209 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166209 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785347280.86278152 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.720ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785347281.41583991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.517ms + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292405 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292405 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.337ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948528 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948528 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.990ms + 5.32sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.226562 ms (missed cycles : 7). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.226562 ms (missed cycles : 7).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.388ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474885 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474885 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723322 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723322 ms (missed cycles : 2).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.769ms + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.404ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741481 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741481 ms (missed cycles : 2).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.243ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.189ms + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229682 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229682 ms (missed cycles : 3).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.068ms + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724459 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724459 ms (missed cycles : 2).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 4125 particles 723 points - 5.175ms + 11.89sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 4.958ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.425056 ms (missed cycles : 6). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.425056 ms (missed cycles : 6).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 2742 particles 723 points - 4.114ms + 12.89sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.364ms + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140896 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140896 ms (missed cycles : 2).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.622ms + 13.71sINFOobjective_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 + 13.72sINFOjoint_trajectory_controllerGot request to cancel goal + 13.72sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.73sERRORobjective_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: 1785347291.43989611 seconds ×3 + 13.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.897ms + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.415ms + 14.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785347292.00101280 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069929 ms (missed cycles : 7). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069929 ms (missed cycles : 7).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms + 14.63sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.261ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.355ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.506ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382520 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382520 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.945ms + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 16.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.215ms + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279525 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279525 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 4.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877551 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877551 ms (missed cycles : 3).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.123ms + 8.23sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785347193.84435654 seconds ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007713 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007713 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242986 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242986 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785347195.40353107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382625 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382625 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703199 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703199 ms (missed cycles : 3).[0m ×2 + 11.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.8s | 36 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890660 ms (missed cycles : 3).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881126 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881126 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810974 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810974 ms (missed cycles : 5).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759522 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759522 ms (missed cycles : 3).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785347364.66168833 seconds ×3 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881452 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881452 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.501ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.717ms + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.730ms + 4.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785347365.21704125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 6.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 8.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 9.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 33 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.02sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785347128.48670912 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785347129.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.4141e-05 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905748 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905748 ms (missed cycles : 2).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785347132.14113188 seconds ×3 + 8.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785347132.69958949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.792235 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.792235 ms (missed cycles : 5).[0m ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610470 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610470 ms (missed cycles : 2).[0m ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095424 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095424 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072990 ms (missed cycles : 4).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.486ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498703 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498703 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.092ms + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.099ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.248ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785347439.39794898 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785347439.99073577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.76sINFOmove_groupClearing octomap...[0m ×2 + 4.76sINFOmove_groupOctomap cleared.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2).[0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785347440.58090234 seconds ×3 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.781ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.026ms + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785347441.12773800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.124ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785347441.66028094 seconds ×3 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 6.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.197ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030360 ms (missed cycles : 2). + 7.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.902ms + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030360 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.86sINFOmove_groupClearing octomap...[0m ×2 + 1.86sINFOmove_groupOctomap cleared.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704935 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704935 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 7.738081 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785347128.48670912 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785347129.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.4141e-05 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738081 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507056 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968737 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165171 ms (missed cycles : 4).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785347128.48670912 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785347129.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.4141e-05 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785347225.89368033 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.539ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785347226.47263718 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 ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.279ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.631ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3).[0m ×2 + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785347128.48670912 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595953 ms (missed cycles : 2).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785347129.04094720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759762 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.4141e-05 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016645 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905748 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905748 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785347132.14113188 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785347132.69958949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.792235 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.792235 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610470 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610470 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095424 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095424 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 4.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 4.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 4.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 4.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005385 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268767 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257577 ms (missed cycles : 2).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232298 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785347189.24975181 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.736ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781083 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 4.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785347189.82418561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.071ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423535 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295804 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785347225.89368033 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.539ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785347226.47263718 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 ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.279ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.631ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3).[0m ×2 + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258377 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585701 ms (missed cycles : 2).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818232 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414943 ms (missed cycles : 6).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785347225.89368033 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403545 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.539ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785347226.47263718 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 ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.279ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300752 ms (missed cycles : 2).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.631ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 6.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135122 ms (missed cycles : 3).[0m ×2 + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 38 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.363ms + 0.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370328 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123949 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860747 ms (missed cycles : 5).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946559 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785347369.48723245 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687119 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785347370.05074000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190533 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574984 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072990 ms (missed cycles : 4).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.486ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498703 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498703 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.092ms + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.189230 ms (missed cycles : 7).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.099ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945179 ms (missed cycles : 2).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.248ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910283 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785347439.39794898 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785347439.99073577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.76sINFOmove_groupClearing octomap...[0m ×2 + 4.76sINFOmove_groupOctomap cleared.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019663 ms (missed cycles : 2).[0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 5.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785347440.58090234 seconds ×3 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.781ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.026ms + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785347441.12773800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.124ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519438 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785347441.66028094 seconds ×3 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 6.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.197ms | ||||
▾
/__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 | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_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 | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 0.33sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.78sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.78sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sINFOjoint_trajectory_controllerReceived new action goal + 6.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.72sINFOjoint_trajectory_controllerAccepted new action goal + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635008 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.93sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374037 ms (missed cycles : 2).[0m ×2 + 0.33sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.78sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.78sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_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 | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704935 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704935 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_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 | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756888 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079356 ms (missed cycles : 4).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785347082.95461059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785347082.96487761 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785347083.53255010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785347083.55285811 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785347084.10309243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785347084.25376391 seconds ×3 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785347084.82836103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785347084.88848400 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915643 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785347085.44986153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913110 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||