69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 24.5s | 65 errors · 718 warnings · 1923 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/2026-07-30-20-02-42-549920-2f56c7193540-9259 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.99sINFOros2_control_node-8process started with pid [9316] + 9.03sINFOmove_group-20process started with pid [9405] + 9.03sINFOparameter_manager_node-21process started with pid [9406] + 9.03sINFOwaypoint_manager_node-22process started with pid [9407] + 9.03sINFOmove_joint_resampler_node-23process started with pid [9408] + 9.03sINFOmove_end_effector_resampler_node-24process started with pid [9444] + 9.03sINFOobjective_server_node_main-25process started with pid [9445] + 9.03sINFOcomponent_container_mt-26process started with pid [9446] + 9.03sINFOcomponent_container_mt-27process started with pid [9447] + 9.03sINFOexecute_objective_bridge-28process started with pid [9448] + 9.03sINFOui_teleop_bridge-29process started with pid [9449] + 9.03sINFOweb_bridge-30process started with pid [9450] + 9.03sINFOtf2_web_republisher_node-31process started with pid [9451] + 9.03sINFOvideo_server-32process started with pid [9452] + 9.03sINFOweb_bridge_auth_proxy-33process started with pid [9454] + 9.04sINFOweb_video_auth_proxy-34process started with pid [9455] + 9.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 9.04sINFOcomponent_container_isolated-1process started with pid [9309] + 9.04sINFOcomponent_container_isolated-2process started with pid [9310] + 9.04sINFOstatic_transform_publisher-3process started with pid [9311] + 9.04sINFOstatic_transform_publisher-4process started with pid [9312] + 9.04sINFOodom_qos_relay.py-5process started with pid [9313] + 9.04sINFOscan_to_scan_filter_chain-6process started with pid [9314] + 9.04sINFOscan_to_scan_filter_chain-7process started with pid [9315] + 9.04sINFOros2-9process started with pid [9394] + 9.04sINFOros2-10process started with pid [9395] + 9.04sINFOros2-11process started with pid [9396] + 9.04sINFOros2-12process started with pid [9397] + 9.04sINFOros2-13process started with pid [9398] + 9.04sINFOros2-14process started with pid [9399] + 9.04sINFOros2-15process started with pid [9400] + 9.04sINFOros2-16process started with pid [9401] + 9.04sINFOros2-17process started with pid [9402] + 9.04sINFOros2-18process started with pid [9403] + 9.04sINFOros2-19process started with pid [9404] + 9.15sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 9.15sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 9.15sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 9.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 9.15sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.15sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 9.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.16sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.16sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.16sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.596225 ms (missed cycles : 4).[0m + 9.16sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 9.19sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 9.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 9.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 9.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 9.30sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.30sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.31sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.35sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 9.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 9.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.54sINFOmove_groupLoaded robot model in 0.356381 seconds[0m + 9.54sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.54sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.63sINFOvideo_server2026/07/30 20:02:54 INF MediaMTX v1.19.3, linux, amd64 + 9.65sINFOvideo_server2026/07/30 20:02:54 INF configuration loaded from /tmp/moveit-webrtc-n31lxmg7/mediamtx.yml + 9.65sINFOvideo_server2026/07/30 20:02:54 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) + 9.65sINFOvideo_server2026/07/30 20:02:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 9.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.67sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 9.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 10.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 10.05sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720226 ms (missed cycles : 2).[0m + 10.42sINFOwaypoint_manager_nodeLoaded robot model in 0.297198 seconds[0m + 10.42sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 10.42sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.43sINFOmove_group[2026-07-30 20:02:55.445] [moveit_pro_license] [info] + 10.43sINFOmove_group************************************************* ×6 + 10.43sINFOmove_group* MoveIt Pro License ×3 + 10.43sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.68sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 10.68sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 10.76sERRORcomponent_container_isolated-1process has died [pid 9309, 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_bntfmrwp --params-file /tmp/launch_params_b808rd_3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. + 10.82sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 10.82sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 10.83sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 10.83sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.83sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 10.83sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 10.83sINFOmove_groupStarting planning scene monitor[0m ×3 + 10.83sINFOmove_groupListening to '/planning_scene'[0m ×3 + 10.83sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 10.84sINFOmove_groupListening to 'collision_object'[0m ×3 + 10.84sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 10.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.89sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×8 + 10.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961837 ms (missed cycles : 2).[0m + 11.18sINFOwaypoint_manager_node[2026-07-30 20:02:56.197] [moveit_pro_license] [info] + 11.18sINFOwaypoint_manager_node************************************************* ×6 + 11.18sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 11.18sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.48sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 11.48sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.49sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.49sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.49sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.49sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.49sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.49sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.49sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.49sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.49sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.49sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.49sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.49sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 11.49sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.49sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.49sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.49sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.49sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.49sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.49sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.49sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.52sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.64sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.64sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 11.65sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 11.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 11.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 11.68sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 11.68sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 11.69sINFOros2_control_nodeconfigure successful[0m ×9 + 11.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 11.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 11.70sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 11.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.81sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 12.00sINFOobjective_server_node[2026-07-30 20:02:57.022] [moveit_pro_license] [info] + 12.00sINFOobjective_server_node************************************************* ×8 + 12.00sINFOobjective_server_node* MoveIt Pro License ×4 + 12.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 12.07sINFOobjective_server_nodeLoaded robot model in 0.0225082 seconds[0m + 12.07sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 12.07sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.09sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 12.09sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 12.09sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 12.09sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 12.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 12.24sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.24sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 12.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.36sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.36sINFOmove_group ×12 + 12.36sINFOmove_group******************************************************** ×6 + 12.36sINFOmove_group* MoveGroup using: ×3 + 12.36sINFOmove_group* - apply_planning_scene_service ×3 + 12.36sINFOmove_group* - clear_octomap_service ×3 + 12.36sINFOmove_group* - get_group_urdf ×3 + 12.36sINFOmove_group* - load_geometry_from_file ×3 + 12.36sINFOmove_group* - get_planning_scene_service ×3 + 12.36sINFOmove_group* - kinematics_service ×3 + 12.36sINFOmove_group* - save_geometry_to_file ×3 + 12.36sINFOmove_group* - GetPlanningGroups ×3 + 12.36sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.36sINFOmove_group[0m ×3 + 12.36sINFOmove_group[92mYou can start planning now![0m ×3 + 12.43sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 12.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 12.44sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 12.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 12.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 12.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 12.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 12.44sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173673 ms (missed cycles : 5).[0m + 12.88sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 13.08sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948132 ms (missed cycles : 3).[0m + 13.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.83sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 13.83sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 13.88sINFOros2-12process has finished cleanly [pid 9397] + 13.90sINFOcomponent_container_mtLoaded robot model in 2.0857 seconds[0m + 13.90sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 13.90sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.94sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 13.99sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 13.99sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 14.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 14.01sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.27sINFOros2_control_node[2026-07-30 20:02:59.293] [warning] No force/torque sensor configured. The VFC will ignore force references. + 14.28sINFOros2_control_node[2026-07-30 20:02:59.295] [info] Controller state will be published at 10 Hz. + 14.28sINFOros2_control_node[2026-07-30 20:02:59.296] [info] VelocityForceController 'on_configure' succeeded. + 14.41sINFOcomponent_container_mt[2026-07-30 20:02:59.427] [moveit_pro_license] [info] + 14.41sINFOcomponent_container_mt************************************************* ×6 + 14.41sINFOcomponent_container_mt* MoveIt Pro License ×3 + 14.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 14.60sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 14.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 14.61sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 14.64sINFOros2-17process has finished cleanly [pid 9402] + 14.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 14.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 14.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 14.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 14.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 14.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048419 ms (missed cycles : 2).[0m + 14.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 14.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 14.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 15.07sINFOros2-14process has finished cleanly [pid 9399] + 15.33sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 15.33sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 15.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 15.35sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 15.35sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 15.36sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 15.36sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 15.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 15.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 15.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 15.70sINFOros2-10process has finished cleanly [pid 9395] + 15.73sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 15.73sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 15.74sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 15.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081193 ms (missed cycles : 4).[0m + 16.03sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 16.03sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 16.03sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 16.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 16.07sINFOros2-9process has finished cleanly [pid 9394] + 16.09sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 16.10sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 16.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 16.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 16.11sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 16.45sINFOros2-13process has finished cleanly [pid 9398] + 16.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 16.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 16.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 16.75sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 16.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 16.76sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 16.76sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 16.76sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 16.76sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 16.76sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 16.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194252 ms (missed cycles : 4).[0m + 17.03sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 17.03sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 17.04sINFOros2-15process has finished cleanly [pid 9400] + 17.09sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 17.14sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 17.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 17.36sINFOros2_control_node[2026-07-30 20:03:02.374] [info] Controller state will be published at 20 Hz. + 17.36sINFOros2_control_node[2026-07-30 20:03:02.375] [info] JointVelocityController 'on_configure' succeeded. + 17.69sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.69sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 17.69sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 17.71sINFOros2-19process has finished cleanly [pid 9404] + 17.75sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 17.75sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370121 ms (missed cycles : 2).[0m + 18.03sINFOros2_control_node[2026-07-30 20:03:03.046] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.03sINFOros2_control_node[2026-07-30 20:03:03.047] [info] Controller state will be published at 10 Hz. + 18.03sINFOros2_control_node[2026-07-30 20:03:03.048] [info] VelocityForceController 'on_configure' succeeded. + 18.40sINFOros2-16process has finished cleanly [pid 9401] + 18.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 18.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 18.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 18.67sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 18.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 18.67sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 18.67sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 18.67sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 18.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 18.69sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943065 ms (missed cycles : 3).[0m + 19.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 19.03sINFOros2-11process has finished cleanly [pid 9396] + 19.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4gcgz8ha --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_zagywzga --params-file /tmp/launch_params_ydue8zhy [0m + 19.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 19.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.37sINFOros2_control_node[2026-07-30 20:03:04.392] [info] Controller state will be published at 20 Hz. + 19.37sINFOros2_control_node[2026-07-30 20:03:04.393] [info] JointVelocityController 'on_configure' succeeded. + 19.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 19.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 19.70sINFOros2-18process has finished cleanly [pid 9403] + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209169 ms (missed cycles : 2).[0m + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531190 ms (missed cycles : 4).[0m + 21.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189631 ms (missed cycles : 2).[0m + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055575 ms (missed cycles : 2).[0m + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639276 ms (missed cycles : 3).[0m + 24.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441789.56485224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.55sINFOmove_groupClearing octomap...[0m ×4 + 24.55sINFOmove_groupOctomap cleared.[0m ×4 + 24.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441789.57507420 seconds + 25.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441790.11875796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441790.12891579 seconds + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542547 ms (missed cycles : 3).[0m + 25.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441790.67104506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441790.82155991 seconds + 26.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441791.38633108 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 26.39sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 26.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 26.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 26.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512158 ms (missed cycles : 4).[0m + 26.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441791.46647120 seconds + 27.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441792.01492476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 27.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 27.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 27.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 27.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811820 ms (missed cycles : 3).[0m + 28.05sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×5 + 28.05sINFOobjective_server_nodePlanning for 177 path waypoints. + 28.48sINFOros2_control_nodeReceived new action goal[0m ×15 + 28.48sINFOros2_control_nodeAccepted new action goal[0m ×15 + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773166 ms (missed cycles : 2).[0m + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538909 ms (missed cycles : 3).[0m + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557739 ms (missed cycles : 3).[0m + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783048 ms (missed cycles : 3).[0m + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826851 ms (missed cycles : 2).[0m + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853426 ms (missed cycles : 3).[0m + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716791 ms (missed cycles : 2).[0m + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878311 ms (missed cycles : 3).[0m + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780690 ms (missed cycles : 3).[0m + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885125 ms (missed cycles : 5).[0m + 39.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345627 ms (missed cycles : 3).[0m + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881384 ms (missed cycles : 2).[0m + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790648 ms (missed cycles : 2).[0m + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647246 ms (missed cycles : 2).[0m + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476927 ms (missed cycles : 4).[0m + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153979 ms (missed cycles : 2).[0m + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915306 ms (missed cycles : 5).[0m + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124775 ms (missed cycles : 4).[0m + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348779 ms (missed cycles : 5).[0m + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178887 ms (missed cycles : 4).[0m + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469134 ms (missed cycles : 3).[0m + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187853 ms (missed cycles : 4).[0m + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865903 ms (missed cycles : 3).[0m + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920073 ms (missed cycles : 2).[0m + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931602 ms (missed cycles : 2).[0m + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597975 ms (missed cycles : 3).[0m + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028666 ms (missed cycles : 4).[0m + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435392 ms (missed cycles : 3).[0m + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788715 ms (missed cycles : 5).[0m + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392557 ms (missed cycles : 3).[0m + 60.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264427 ms (missed cycles : 3).[0m + 61.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470503 ms (missed cycles : 4).[0m + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544647 ms (missed cycles : 3).[0m + 63.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453044 ms (missed cycles : 3).[0m + 64.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855524 ms (missed cycles : 3).[0m + 65.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892279 ms (missed cycles : 2).[0m + 66.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029008 ms (missed cycles : 3).[0m + 67.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730890 ms (missed cycles : 3).[0m + 68.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770868 ms (missed cycles : 2).[0m + 69.88sINFOros2_control_nodeGoal reached, success![0m ×14 + 69.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441834.95420742 seconds + 69.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502921 ms (missed cycles : 3).[0m + 70.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441835.49848866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 70.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064716 ms (missed cycles : 2).[0m + 71.28sINFOobjective_server_nodeFound path in 0 iterations (1.688e-05 s). + 71.28sINFOobjective_server_nodePath shortcutter: [X____X] + 71.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 72.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462924 ms (missed cycles : 2).[0m + 73.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976816 ms (missed cycles : 4).[0m + 73.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785441838.42864037 seconds + 73.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785441838.97606063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726507 ms (missed cycles : 2).[0m + 74.26sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 75.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773826 ms (missed cycles : 3).[0m + 75.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 76.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306971 ms (missed cycles : 2).[0m + 77.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349566 ms (missed cycles : 4).[0m + 78.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517012 ms (missed cycles : 4).[0m + 79.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251586 ms (missed cycles : 4).[0m + 80.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989932 ms (missed cycles : 5).[0m + 81.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285263 ms (missed cycles : 4).[0m + 81.54sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m + 82.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673094 ms (missed cycles : 2).[0m + 83.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989540 ms (missed cycles : 5).[0m + 84.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354703 ms (missed cycles : 4).[0m + 85.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147606 ms (missed cycles : 2).[0m + 86.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.424214 ms (missed cycles : 7).[0m + 87.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505877 ms (missed cycles : 3).[0m + 88.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832700 ms (missed cycles : 5).[0m + 89.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646293 ms (missed cycles : 6).[0m + 90.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235940 ms (missed cycles : 7).[0m + 91.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208096 ms (missed cycles : 4).[0m + 92.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836358 ms (missed cycles : 2).[0m + 93.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299239 ms (missed cycles : 2).[0m + 94.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392091 ms (missed cycles : 3).[0m + 95.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407008 ms (missed cycles : 3).[0m + 96.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514271 ms (missed cycles : 4).[0m + 97.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291963 ms (missed cycles : 4).[0m + 98.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124767 ms (missed cycles : 4).[0m + 99.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509426 ms (missed cycles : 4).[0m +100.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.588109 ms (missed cycles : 7).[0m +102.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953083 ms (missed cycles : 2).[0m +103.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150352 ms (missed cycles : 4).[0m +104.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487415 ms (missed cycles : 4).[0m +104.21sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +105.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847195 ms (missed cycles : 3).[0m +106.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643821 ms (missed cycles : 4).[0m +107.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237812 ms (missed cycles : 4).[0m +108.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147010 ms (missed cycles : 2).[0m +109.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131365 ms (missed cycles : 4).[0m +110.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658413 ms (missed cycles : 2).[0m +111.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636500 ms (missed cycles : 6).[0m +112.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890215 ms (missed cycles : 3).[0m +113.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806116 ms (missed cycles : 2).[0m +114.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.437404 ms (missed cycles : 6).[0m +115.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246052 ms (missed cycles : 4).[0m +116.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883945 ms (missed cycles : 2).[0m +117.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256954 ms (missed cycles : 3).[0m +118.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537904 ms (missed cycles : 3).[0m +119.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533273 ms (missed cycles : 4).[0m +120.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513008 ms (missed cycles : 6).[0m +121.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360674 ms (missed cycles : 4).[0m +122.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261675 ms (missed cycles : 4).[0m +123.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135743 ms (missed cycles : 4).[0m +124.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986039 ms (missed cycles : 2).[0m +125.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492850 ms (missed cycles : 3).[0m +127.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837756 ms (missed cycles : 6).[0m +128.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725398 ms (missed cycles : 3).[0m +129.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634869 ms (missed cycles : 3).[0m +129.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441894.87618780 seconds +130.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743230 ms (missed cycles : 2).[0m +130.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441895.42309856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +130.72sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 +130.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +131.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432557 ms (missed cycles : 4).[0m +132.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464604 ms (missed cycles : 4).[0m +133.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403290 ms (missed cycles : 4).[0m +134.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842600 ms (missed cycles : 2).[0m +134.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785441899.48327231 seconds +135.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160399 ms (missed cycles : 4).[0m +136.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785441901.02963257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +136.31sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +136.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688871 ms (missed cycles : 3).[0m +137.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281959 ms (missed cycles : 5).[0m +137.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +138.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890030 ms (missed cycles : 2).[0m +139.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119966 ms (missed cycles : 4).[0m +140.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842502 ms (missed cycles : 2).[0m +141.54sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m +141.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809246 ms (missed cycles : 3).[0m +142.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048688 ms (missed cycles : 5).[0m +143.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623990 ms (missed cycles : 3).[0m +145.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572749 ms (missed cycles : 3).[0m +146.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327708 ms (missed cycles : 2).[0m +147.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460105 ms (missed cycles : 3).[0m +148.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717552 ms (missed cycles : 5).[0m +149.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627073 ms (missed cycles : 4).[0m +150.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909732 ms (missed cycles : 2).[0m +151.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182830 ms (missed cycles : 4).[0m +152.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012706 ms (missed cycles : 2).[0m +153.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077677 ms (missed cycles : 2).[0m +154.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252012 ms (missed cycles : 4).[0m +155.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124806 ms (missed cycles : 4).[0m +156.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547412 ms (missed cycles : 3).[0m +157.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646468 ms (missed cycles : 3).[0m +158.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284421 ms (missed cycles : 2).[0m +159.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886248 ms (missed cycles : 2).[0m +161.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030733 ms (missed cycles : 4).[0m +162.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804288 ms (missed cycles : 5).[0m +163.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673600 ms (missed cycles : 3).[0m +164.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573806 ms (missed cycles : 6).[0m +165.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547157 ms (missed cycles : 2).[0m +166.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785441931.15977526 seconds +166.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904712 ms (missed cycles : 5).[0m +166.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785441931.70467567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +166.99sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 +167.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887661 ms (missed cycles : 5).[0m +168.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +168.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726450 ms (missed cycles : 2).[0m +169.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935908 ms (missed cycles : 3).[0m +170.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466338 ms (missed cycles : 4).[0m +171.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537240 ms (missed cycles : 3).[0m +172.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202101 ms (missed cycles : 4).[0m +173.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775318 ms (missed cycles : 5).[0m +174.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736447 ms (missed cycles : 2).[0m +175.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838326 ms (missed cycles : 4).[0m +176.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367630 ms (missed cycles : 4).[0m +178.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638105 ms (missed cycles : 4).[0m +179.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102049 ms (missed cycles : 3).[0m +180.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643894 ms (missed cycles : 2).[0m +181.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243248 ms (missed cycles : 4).[0m +182.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731148 ms (missed cycles : 5).[0m +183.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730087 ms (missed cycles : 5).[0m +184.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081993 ms (missed cycles : 4).[0m +185.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139981 ms (missed cycles : 3).[0m +186.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315977 ms (missed cycles : 4).[0m +187.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755933 ms (missed cycles : 4).[0m +188.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615481 ms (missed cycles : 3).[0m +189.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239028 ms (missed cycles : 2).[0m +190.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945411 ms (missed cycles : 4).[0m +191.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019973 ms (missed cycles : 4).[0m +192.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503179 ms (missed cycles : 3).[0m +193.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522780 ms (missed cycles : 3).[0m +194.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776725 ms (missed cycles : 2).[0m +195.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083630 ms (missed cycles : 2).[0m +196.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512278 ms (missed cycles : 3).[0m +197.12sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +197.75sINFOobjective_server_nodePlanning for 59 path waypoints. +197.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082356 ms (missed cycles : 2).[0m +198.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375759 ms (missed cycles : 2).[0m +199.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888785 ms (missed cycles : 2).[0m +200.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674931 ms (missed cycles : 2).[0m +201.55sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m +201.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752498 ms (missed cycles : 2).[0m +202.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940866 ms (missed cycles : 2).[0m +203.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113960 ms (missed cycles : 3).[0m +205.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545207 ms (missed cycles : 2).[0m +206.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960156 ms (missed cycles : 2).[0m +207.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590859 ms (missed cycles : 3).[0m +208.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934050 ms (missed cycles : 2).[0m +209.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926490 ms (missed cycles : 2).[0m +210.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535624 ms (missed cycles : 4).[0m +211.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558641 ms (missed cycles : 4).[0m +212.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844541 ms (missed cycles : 2).[0m +213.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070359 ms (missed cycles : 2).[0m +214.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203588 ms (missed cycles : 2).[0m +215.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073779 ms (missed cycles : 2).[0m +216.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363232 ms (missed cycles : 2).[0m +217.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174278 ms (missed cycles : 3).[0m +218.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460085 ms (missed cycles : 4).[0m +219.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561174 ms (missed cycles : 3).[0m +220.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212710 ms (missed cycles : 2).[0m +221.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785441986.07483411 seconds +221.60sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785441986.62012053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +221.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +221.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942050 ms (missed cycles : 2).[0m +222.87sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +222.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721993 ms (missed cycles : 5).[0m +223.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688905 ms (missed cycles : 3).[0m +225.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778071 ms (missed cycles : 2).[0m +226.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676280 ms (missed cycles : 2).[0m +227.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075233 ms (missed cycles : 2).[0m +228.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819528 ms (missed cycles : 2).[0m +229.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179083 ms (missed cycles : 5).[0m +230.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009278 ms (missed cycles : 2).[0m +231.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228621 ms (missed cycles : 2).[0m +231.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +231.95sINFOros2_control_nodeGot request to cancel goal[0m +231.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +231.96sERRORobjective_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: 1785441996.98174787 seconds +232.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217439 ms (missed cycles : 4).[0m +232.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785441997.52918243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +233.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091449 ms (missed cycles : 5).[0m +233.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +234.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246673 ms (missed cycles : 5).[0m +235.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674197 ms (missed cycles : 3).[0m +236.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568437 ms (missed cycles : 3).[0m +237.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897260 ms (missed cycles : 4).[0m +238.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874223 ms (missed cycles : 2).[0m +239.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721705 ms (missed cycles : 2).[0m +240.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927991 ms (missed cycles : 5).[0m +242.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451382 ms (missed cycles : 2).[0m +243.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391227 ms (missed cycles : 2).[0m +244.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802643 ms (missed cycles : 2).[0m +245.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501700 ms (missed cycles : 3).[0m +246.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483276 ms (missed cycles : 2).[0m +247.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840673 ms (missed cycles : 2).[0m +248.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984608 ms (missed cycles : 5).[0m +249.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796996 ms (missed cycles : 2).[0m +250.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134856 ms (missed cycles : 2).[0m +251.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781899 ms (missed cycles : 2).[0m +252.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488640 ms (missed cycles : 3).[0m +253.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218839 ms (missed cycles : 2).[0m +254.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478814 ms (missed cycles : 3).[0m +255.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844939 ms (missed cycles : 2).[0m +256.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475942 ms (missed cycles : 2).[0m +257.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423512 ms (missed cycles : 5).[0m +258.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449460 ms (missed cycles : 2).[0m +259.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210863 ms (missed cycles : 3).[0m +260.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203634 ms (missed cycles : 4).[0m +261.55sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m +261.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647757 ms (missed cycles : 3).[0m +262.28sINFOobjective_server_nodePlanning for 36 path waypoints. +262.29sERRORobjective_server_nodePlanCartesianPath Error: Path couldn't be fully solved: Maximum allowed deviation exceeded. Path is infeasible with the given constraints. +262.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1785442027.30942893 seconds +262.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944680 ms (missed cycles : 2).[0m +262.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785442027.96384764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +263.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184505 ms (missed cycles : 2).[0m +264.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021670 ms (missed cycles : 2).[0m +265.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784454 ms (missed cycles : 2).[0m +266.93sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442031.95399451 seconds +267.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950864 ms (missed cycles : 2).[0m +267.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442032.50987720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +267.95sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). +268.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309466 ms (missed cycles : 4).[0m +269.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201239 ms (missed cycles : 4).[0m +270.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808922 ms (missed cycles : 2).[0m +271.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077642 ms (missed cycles : 4).[0m +272.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525905 ms (missed cycles : 4).[0m +273.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559671 ms (missed cycles : 3).[0m +274.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013332 ms (missed cycles : 2).[0m +275.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659852 ms (missed cycles : 2).[0m +276.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874624 ms (missed cycles : 3).[0m +277.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.888987 ms (missed cycles : 5).[0m +278.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964573 ms (missed cycles : 4).[0m +279.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174599 ms (missed cycles : 2).[0m +280.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428043 ms (missed cycles : 5).[0m +281.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717707 ms (missed cycles : 5).[0m +282.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509138 ms (missed cycles : 6).[0m +283.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705568 ms (missed cycles : 2).[0m +284.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557116 ms (missed cycles : 3).[0m +286.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980648 ms (missed cycles : 2).[0m +287.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953719 ms (missed cycles : 2).[0m +288.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910284 ms (missed cycles : 3).[0m +289.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.153982 ms (missed cycles : 7).[0m +290.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901360 ms (missed cycles : 2).[0m +291.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754950 ms (missed cycles : 2).[0m +292.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004785 ms (missed cycles : 2).[0m +293.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639553 ms (missed cycles : 3).[0m +294.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734068 ms (missed cycles : 2).[0m +295.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946672 ms (missed cycles : 2).[0m +296.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744561 ms (missed cycles : 4).[0m +297.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403537 ms (missed cycles : 4).[0m +298.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429852 ms (missed cycles : 4).[0m +299.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689915 ms (missed cycles : 3).[0m +300.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487669 ms (missed cycles : 4).[0m +301.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464252 ms (missed cycles : 3).[0m +302.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.461868 ms (missed cycles : 6).[0m +303.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915579 ms (missed cycles : 2).[0m +304.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397394 ms (missed cycles : 4).[0m +305.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975146 ms (missed cycles : 2).[0m +307.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586504 ms (missed cycles : 3).[0m +308.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757614 ms (missed cycles : 2).[0m +309.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298337 ms (missed cycles : 2).[0m +310.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267777 ms (missed cycles : 4).[0m +311.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535953 ms (missed cycles : 4).[0m +312.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141430 ms (missed cycles : 2).[0m +313.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629626 ms (missed cycles : 3).[0m +314.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065870 ms (missed cycles : 2).[0m +315.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004378 ms (missed cycles : 4).[0m +316.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704226 ms (missed cycles : 2).[0m +317.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776207 ms (missed cycles : 2).[0m +318.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414084 ms (missed cycles : 4).[0m +319.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938754 ms (missed cycles : 3).[0m +320.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634585 ms (missed cycles : 3).[0m +321.56sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m +321.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950298 ms (missed cycles : 3).[0m +322.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278811 ms (missed cycles : 4).[0m +323.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785442088.08001852 seconds +323.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785442088.63670087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +323.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628549 ms (missed cycles : 4).[0m +323.90sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +324.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539999 ms (missed cycles : 4).[0m +325.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994126 ms (missed cycles : 3).[0m +326.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924926 ms (missed cycles : 3).[0m +328.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349775 ms (missed cycles : 4).[0m +328.15sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +328.17sINFOobjective_server_nodePath shortcutter: [X__________________X] +328.23sINFOobjective_server_nodePath shortcutter: [X____________________X] +328.30sINFOobjective_server_nodePath shortcutter: [X_________________________X] +328.34sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +328.44sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +328.48sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). +328.67sINFOobjective_server_nodeFound path in 69 iterations (0.0376553 s). +328.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +328.86sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +329.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042204 ms (missed cycles : 2).[0m +329.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +329.20sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). +329.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +329.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +330.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684123 ms (missed cycles : 5).[0m +331.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323830 ms (missed cycles : 2).[0m +332.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704525 ms (missed cycles : 2).[0m +333.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709815 ms (missed cycles : 3).[0m +334.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499800 ms (missed cycles : 4).[0m +335.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819702 ms (missed cycles : 3).[0m +335.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785442100.66802359 seconds +336.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442101.25325465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +336.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051173 ms (missed cycles : 2).[0m +337.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442102.47346067 seconds +337.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603032 ms (missed cycles : 2).[0m +337.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442103.01419187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +338.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049641 ms (missed cycles : 2).[0m +338.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442103.80434799 seconds +339.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +340.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614875 ms (missed cycles : 3).[0m +340.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010658 ms (missed cycles : 4).[0m +341.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235353 ms (missed cycles : 4).[0m +342.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899033 ms (missed cycles : 3).[0m +343.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735443 ms (missed cycles : 2).[0m +344.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701173 ms (missed cycles : 3).[0m +345.14sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.14sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.15sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.15sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.15sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.15sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] +345.17sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.18sERRORweb_video_auth_proxy-34process has died [pid 9455, 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']. +345.18sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.18sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.19sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.19sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] +345.21sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.21sERRORweb_bridge_auth_proxy-33process has died [pid 9454, 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']. +345.21sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.22sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.22sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.22sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.23sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.23sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.23sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.23sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.24sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.24sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.24sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.24sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +345.25sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] +345.26sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] +345.28sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] +345.29sINFOvideo_server-32process has finished cleanly [pid 9452] +345.30sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] +345.32sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] +345.33sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +345.35sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +345.37sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +345.38sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system +345.39sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +345.41sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +345.43sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +345.45sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +345.47sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +345.49sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +345.51sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +345.52sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9451] +345.52sERRORmove_group-20process has died [pid 9405, 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_pjd9pjwn --params-file /tmp/launch_params_xyl05pa3 --params-file /tmp/launch_params_96eybkrs --params-file /tmp/launch_params_5vbi8s0j --params-file /tmp/launch_params_qfbje0by --params-file /tmp/launch_params_1c59c3s7']. +345.53sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +345.55sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +345.57sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +345.59sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +345.61sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +345.61sINFOvideo_server2026/07/30 20:08:30 INF shutting down gracefully +345.61sINFOvideo_server2026/07/30 20:08:30 INF [WebRTC] closing +345.61sINFOvideo_server2026/07/30 20:08:30 INF [RTSP] closing +345.61sINFOvideo_server2026/07/30 20:08:30 INF waiting for running hooks +345.61sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +345.61sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +345.61sERRORui_teleop_bridgeTraceback (most recent call last): +345.61sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +345.61sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +345.61sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +345.61sINFOui_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 +345.61sINFOui_teleop_bridgerclpy.shutdown() +345.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +345.61sINFOui_teleop_bridge_shutdown(context=context) +345.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +345.61sINFOui_teleop_bridgecontext.shutdown() +345.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +345.61sINFOui_teleop_bridgeself.__context.shutdown() +345.61sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +345.61sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +345.61sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +345.61sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +345.61sINFOcomponent_container_mtStopping planning scene monitor[0m +345.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +345.62sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +345.62sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +345.62sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +345.62sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +345.62sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +345.62sERRORmove_groupwhat(): context cannot be slept with because it's invalid +345.62sERRORmove_groupStack trace (most recent call last) in thread 9976: +345.62sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +345.62sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f5b70aa63, in __clone +345.62sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f5b67daa3, in +345.62sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f5b90fdb3, in +345.62sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6f5c052ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +345.62sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f5bc824d0, in rclcpp::Rate::sleep() +345.62sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f5bbd5a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +345.62sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f5bb9aa71, in +345.62sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f5b8de390, in __cxa_throw +345.62sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f5b8c8a54, in std::terminate() +345.62sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f5b8de0d9, in +345.62sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f5b8c8ff4, in +345.62sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f5b6098fe, in abort +345.62sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f5b62627d, in raise +345.62sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f5b67fb2c, in pthread_kill +345.62sERRORmove_groupAborted (Signal sent by tkill() 9405 0) +345.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +345.62sINFOros2_control_nodeShutdown request received....[0m +345.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +345.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +345.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +345.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +345.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +345.62sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +345.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +345.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +345.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +345.62sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +345.62sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +345.62sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +345.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +345.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +345.62sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +345.62sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +345.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +345.62sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +345.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +345.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +345.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +345.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +345.62sINFOros2_control_nodeShutting down the controller manager.[0m +345.62sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +345.62sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system +345.62sINFOros2_control_nodeAsync messages lost 0[0m ×2 +345.63sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 +345.63sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +345.63sINFOobjective_server_node[2026-07-30 20:08:30.566] [moveit_pro_license] [info] +345.63sINFOobjective_server_node* Application has successfully terminated +345.63sERRORodom_qos_relay.pyTraceback (most recent call last): +345.63sINFOodom_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> +345.63sINFOodom_qos_relay.pymain() +345.63sINFOodom_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 +345.63sINFOodom_qos_relay.pyrclpy.spin(node) +345.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +345.63sINFOodom_qos_relay.pyexecutor.spin_once() +345.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +345.63sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +345.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +345.63sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +345.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +345.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +345.63sINFOodom_qos_relay.pyreturn next(self._cb_iter) +345.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +345.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +345.63sINFOodom_qos_relay.pyraise ExternalShutdownException() +345.63sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +345.63sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +345.63sERRORobjective_server_nodeStack trace (most recent call last): +345.63sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +345.63sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dfcfc6f6a4, in _start +345.63sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d0108028a, in __libc_start_main +345.63sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d010801d0, in +345.63sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d0109dbbd, in exit +345.63sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d0109da75, in +345.63sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f1d0156c8f5, in spdlog::details::registry::~registry() +345.63sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dfcfc6fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +345.63sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dfcfc76315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +345.63sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dfcfc755a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +345.63sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dfcfc71b7b, in spdlog_ros::RosSink::~RosSink() +345.63sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55dfcfc6fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +345.63sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d01c26454, in rclcpp::Node::~Node() +345.63sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d01be1515, in +345.63sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d01c24d20, in +345.63sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d01c24c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +345.63sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d01be15d9, in +345.63sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d01be6161, in rclcpp::CallbackGroup::~CallbackGroup() +345.63sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f1cb7320450]) +345.65sERRORobjective_server_node_main-25process has died [pid 9445, 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__g2f4iyu --params-file /tmp/launch_params_onmlea7l --params-file /tmp/launch_params__qqs1ng4 --params-file /tmp/launch_params_1dacwylk --params-file /tmp/launch_params_4eknrfkm --params-file /tmp/launch_params_ksk9j7tk --params-file /tmp/launch_params_49klb641 --params-file /tmp/launch_params_3h7bt2hq --params-file /tmp/launch_params_co1tipos']. +345.65sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +345.83sERRORcomponent_container_isolated-2process has died [pid 9310, 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_bntfmrwp --params-file /tmp/launch_params_s6p2wzxm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +346.41sINFOexecute_objective_bridge-28process has finished cleanly [pid 9448] +346.42sERRORui_teleop_bridge-29process has died [pid 9449, 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_dhi18bvx']. +346.44sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9444] +346.44sINFOcomponent_container_mt-27process has finished cleanly [pid 9447] +346.46sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9408] +346.50sINFOparameter_manager_node-21process has finished cleanly [pid 9406] +346.52sINFOwaypoint_manager_node-22process has finished cleanly [pid 9407] +346.55sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9315] +346.56sINFOcomponent_container_mt-26process has finished cleanly [pid 9446] +346.57sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9314] +346.60sINFOstatic_transform_publisher-4process has finished cleanly [pid 9312] +346.63sINFOstatic_transform_publisher-3process has finished cleanly [pid 9311] +346.63sERRORodom_qos_relay.py-5process has died [pid 9313, 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']. +348.07sINFOros2_control_node-8process has finished cleanly [pid 9316] +348.29sINFOweb_bridge-30process has finished cleanly [pid 9450] +348.29sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system +354.76sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-30-20-08-37-326731-2f56c7193540-10351 ×2 +363.35sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +363.35sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' +363.44sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +363.48sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +363.48sINFOcontroller_managerupdate rate is 600 Hz +363.48sINFOcontroller_managerOverruns handling is : enabled +363.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +363.48sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +363.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +363.55sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +363.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257772 ms (missed cycles : 2). +363.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +363.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +363.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +363.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +363.60sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +363.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +363.64sINFOcontroller_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. +363.65sINFOros2_control_node-8process started with pid [10408] ×2 +363.65sINFOmove_group-20process started with pid [10497] ×2 +363.65sINFOparameter_manager_node-21process started with pid [10498] ×2 +363.65sINFOwaypoint_manager_node-22process started with pid [10499] ×2 +363.65sINFOmove_joint_resampler_node-23process started with pid [10500] ×2 +363.65sINFOmove_end_effector_resampler_node-24process started with pid [10521] ×2 +363.65sINFOobjective_server_node_main-25process started with pid [10522] ×2 +363.65sINFOcomponent_container_mt-26process started with pid [10523] ×2 +363.65sINFOcomponent_container_mt-27process started with pid [10524] ×2 +363.65sINFOexecute_objective_bridge-28process started with pid [10525] ×2 +363.65sINFOui_teleop_bridge-29process started with pid [10526] ×2 +363.65sINFOweb_bridge-30process started with pid [10527] ×2 +363.65sINFOtf2_web_republisher_node-31process started with pid [10528] ×2 +363.65sINFOvideo_server-32process started with pid [10531] ×2 +363.65sINFOweb_bridge_auth_proxy-33process started with pid [10532] ×2 +363.65sINFOweb_video_auth_proxy-34process started with pid [10533] ×2 +363.66sINFOcomponent_container_isolated-1process started with pid [10401] ×2 +363.66sINFOcomponent_container_isolated-2process started with pid [10402] ×2 +363.66sINFOstatic_transform_publisher-3process started with pid [10403] ×2 +363.66sINFOstatic_transform_publisher-4process started with pid [10404] ×2 +363.66sINFOodom_qos_relay.py-5process started with pid [10405] ×2 +363.66sINFOscan_to_scan_filter_chain-6process started with pid [10406] ×2 +363.66sINFOscan_to_scan_filter_chain-7process started with pid [10407] ×2 +363.66sINFOros2-9process started with pid [10486] ×2 +363.66sINFOros2-10process started with pid [10487] ×2 +363.66sINFOros2-11process started with pid [10488] ×2 +363.66sINFOros2-12process started with pid [10489] ×2 +363.66sINFOros2-13process started with pid [10490] ×2 +363.66sINFOros2-14process started with pid [10491] ×2 +363.66sINFOros2-15process started with pid [10492] ×2 +363.66sINFOros2-16process started with pid [10493] ×2 +363.66sINFOros2-17process started with pid [10494] ×2 +363.66sINFOros2-18process started with pid [10495] ×2 +363.66sINFOros2-19process started with pid [10496] ×2 +363.69sINFOcontroller_serverCreating controller server +363.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +363.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +363.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +363.70sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +363.71sINFOlocal_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. +363.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257772 ms (missed cycles : 2).[0m ×2 +363.72sINFOlocal_costmap.local_costmapCreating Costmap +363.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +363.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +363.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +363.74sINFOmap_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. +363.74sINFOmap_serverCreating +363.75sINFOsmoother_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. +363.76sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +363.76sINFOsmoother_serverCreating smoother server +363.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +363.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +363.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +363.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +363.79sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +363.81sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +363.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +363.82sINFOplanner_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. +363.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +363.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +363.83sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +363.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +363.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +363.87sINFOplanner_serverCreating +363.87sINFOlifecycle_manager_localizationCreating +363.88sINFOrobot_state_publisherRobot initialized +363.88sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +363.91sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +363.91sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +363.91sINFOmap_serverConfiguring +363.91sINFOcontroller_managerReceived robot description from topic. +363.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +363.91sINFOglobal_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. +363.92sINFOglobal_costmap.global_costmapCreating Costmap +363.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +363.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +363.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +363.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +363.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +363.97sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +363.97sINFOamclConfiguring +363.97sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +363.97sINFOmap_serverActivating +363.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. +363.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +363.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +363.99sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +364.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +364.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +364.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +364.08sINFOlifecycle_manager_localizationServer map_server connected with bond. +364.08sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +364.08sINFOamclActivating +364.08sINFOamclSubscribed to initial_pose_topic: /initialpose +364.08sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +364.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +364.09sINFOamclSubscribed to map_topic: /map +364.09sINFOamclSubscribed to scan_topic: /scan_merged +364.09sINFOamclCreated reinitialize_global_localization service +364.10sINFOamclCreated request_nomotion_update service +364.10sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +364.10sINFOamclA new map was received +364.10sINFOamclInitializing particle filter instance +364.13sINFObt_navigatorCreating +364.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +364.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +364.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +364.15sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.375259 seconds +364.15sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +364.16sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +364.16sINFOmove_groupLoaded robot model in 0.375259 seconds[0m ×2 +364.19sINFOvideo_server2026/07/30 20:08:49 INF MediaMTX v1.19.3, linux, amd64 ×2 +364.19sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +364.19sINFOvideo_server2026/07/30 20:08:49 INF configuration loaded from /tmp/moveit-webrtc-msurjj1_/mediamtx.yml ×2 +364.19sINFOvideo_server2026/07/30 20:08:49 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 +364.19sINFOvideo_server2026/07/30 20:08:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +364.19sINFOwaypoint_followerCreating +364.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +364.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +364.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +364.24sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +364.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +364.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +364.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +364.30sINFOlifecycle_manager_navigationCreating +364.33sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +364.34sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +364.34sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +364.34sINFOcontroller_serverConfiguring controller interface +364.34sINFOcontroller_servergetting progress checker plugins.. +364.34sINFOcontroller_servergetting goal checker plugins.. +364.34sINFOcontroller_serverController frequency set to 20.0000Hz +364.34sINFOlocal_costmap.local_costmapConfiguring +364.36sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +364.36sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +364.36sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +364.37sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +364.40sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +364.40sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +364.40sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +364.43sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +364.44sINFOcontroller_serverController Server has progress_checker progress checkers available. +364.44sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +364.44sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +364.44sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +364.46sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +364.46sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +364.46sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +364.47sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +364.47sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +364.48sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +364.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +364.48sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +364.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +364.49sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +364.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +364.50sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +364.50sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +364.50sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +364.51sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +364.51sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +364.51sINFOcontroller_serverOptimizer reset +364.53sINFOcontroller_serverController Server has FollowPath controllers available. +364.55sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +364.55sINFOsmoother_serverConfiguring smoother server +364.55sINFOamclParticle filter initialization completed +364.55sINFOamclInitializing particles from estimated pose and covariance +364.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +364.55sINFOamclThe bond connection to the lifecycle manager is now fully formed +364.55sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +364.56sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +364.56sINFOlifecycle_manager_localizationServer amcl connected with bond. +364.56sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +364.56sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +364.57sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +364.57sINFOplanner_serverConfiguring +364.57sINFOglobal_costmap.global_costmapConfiguring +364.58sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +364.60sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +364.60sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +364.60sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +364.60sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +364.62sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +364.62sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +364.63sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +364.64sINFOwaypoint_manager_nodeLoaded robot model in 0.334367 seconds[0m ×2 +364.65sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +364.65sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +364.66sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +364.66sINFOplanner_serverPlanner Server has GridBased planners available. +364.67sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +364.67sINFObehavior_serverConfiguring +364.68sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +364.68sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +364.68sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +364.68sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +364.71sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +364.71sINFObehavior_serverConfiguring spin +364.73sINFObehavior_serverConfiguring backup +364.73sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +364.73sWARNmove_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. +364.73sWARNmove_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. +364.73sWARNmove_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. +364.73sWARNmove_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. +364.74sWARNmove_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. +364.74sWARNmove_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. +364.74sWARNmove_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. +364.74sWARNmove_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. +364.74sINFObehavior_serverConfiguring drive_on_heading +364.74sWARNmove_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. +364.74sWARNmove_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. +364.76sINFObehavior_serverConfiguring assisted_teleop +364.77sINFObehavior_serverConfiguring wait +364.77sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +364.77sINFObt_navigatorConfiguring +364.79sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +364.79sWARNbt_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 +364.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985410 ms (missed cycles : 2). +364.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985410 ms (missed cycles : 2).[0m ×2 +364.91sERRORcomponent_container_isolated-1process has died [pid 10401, 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_au0sxxwp --params-file /tmp/launch_params_216u2zdw -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +365.02sWARNwaypoint_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. +365.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +365.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +365.13sINFOmove_group[2026-07-30 20:08:50.145] [moveit_pro_license] [info] ×2 +365.16sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +365.34sINFOwaypoint_manager_node[2026-07-30 20:08:50.363] [moveit_pro_license] [info] ×2 +365.54sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +365.54sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +365.54sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +365.54sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +365.54sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +365.55sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +365.55sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +365.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +365.55sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +365.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +365.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +365.93sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +365.93sINFOcontroller_managerActivating component 'ur_mujoco_control'. +365.93sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +365.93sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +365.95sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +366.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +366.15sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +366.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941453 ms (missed cycles : 2). +366.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941453 ms (missed cycles : 2).[0m ×2 +366.17sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +366.18sINFOobjective_server_node[2026-07-30 20:08:51.195] [moveit_pro_license] [info] ×2 +366.18sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +366.18sINFOcontroller_managerLoading controller 'platform_velocity_controller' +366.18sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +366.18sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +366.22sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +366.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +366.23sINFOplatform_velocity_controllerconfigure successful +366.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +366.23sINFOcontroller_managerSuccessfully switched controllers! ×8 +366.24sINFOobjective_server_nodeLoaded robot model in 0.0223798 seconds[0m ×2 +366.24sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +366.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +366.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +366.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +366.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +366.49sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +366.49sWARNobjective_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. +366.49sWARNobjective_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. +366.49sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +366.50sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +366.50sINFOstreaming_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) +366.50sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +366.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +366.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +366.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +366.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +366.59sINFOros2-12process has finished cleanly [pid 10489] ×2 +366.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +366.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +366.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +366.60sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +366.60sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +366.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +366.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +366.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +366.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +366.74sINFOstreaming_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) +366.76sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +366.77sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.629ms +366.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +366.92sINFOcontroller_managerLoading controller 'vacuum_gripper' +366.93sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +366.93sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +366.96sINFOros2-11process has finished cleanly [pid 10488] ×2 +366.96sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +367.00sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +367.10sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +367.10sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +367.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +367.12sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +367.12sINFOmove_groupMoveGroup debug mode is ON +367.17sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785442131.067 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +367.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770249 ms (missed cycles : 2). +367.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770249 ms (missed cycles : 2).[0m ×2 +367.23sINFOmove_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
********************************************************
+367.43sINFOros2-13process has finished cleanly [pid 10490] ×2 +367.58sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +367.58sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +367.68sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +367.68sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +367.74sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +367.74sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +368.00sINFOros2_control_node[2026-07-30 20:08:53.018] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +368.00sINFOros2_control_node[2026-07-30 20:08:53.021] [info] Controller state will be published at 10 Hz. ×2 +368.00sINFOros2_control_node[2026-07-30 20:08:53.022] [info] VelocityForceController 'on_configure' succeeded. ×2 +368.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924219 ms (missed cycles : 4). +368.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924219 ms (missed cycles : 4).[0m ×2 +368.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +368.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +368.32sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +368.32sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +368.37sINFOros2-17process has finished cleanly [pid 10494] ×2 +368.38sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +368.38sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +368.39sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +368.39sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +368.43sINFOcomponent_container_mtLoaded robot model in 2.08084 seconds[0m ×2 +368.71sWARNplanning_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. +368.71sWARNplanning_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. +368.71sWARNplanning_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. +368.71sWARNplanning_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. +368.71sWARNplanning_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. +368.71sWARNplanning_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. +368.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +368.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' +368.71sWARNplanning_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. +368.72sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.72sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.72sWARNplanning_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. +368.73sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.73sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.73sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.73sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.73sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +368.73sWARNplanning_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. +368.78sINFOros2-10process has finished cleanly [pid 10487] ×2 +368.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +368.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +368.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +368.87sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +368.91sINFOcomponent_container_mt[2026-07-30 20:08:53.930] [moveit_pro_license] [info] ×2 +369.11sINFOros2_control_node[2026-07-30 20:08:54.130] [info] Controller state will be published at 20 Hz. ×2 +369.11sINFOros2_control_node[2026-07-30 20:08:54.131] [info] JointVelocityController 'on_configure' succeeded. ×2 +369.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456094 ms (missed cycles : 4). +369.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456094 ms (missed cycles : 4).[0m ×2 +369.44sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +369.44sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +369.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +369.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +369.48sINFOros2-18process has finished cleanly [pid 10495] ×2 +369.49sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +369.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +369.50sINFOforce_torque_sensor_broadcasterconfigure successful +369.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +369.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +369.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +369.84sINFOcontroller_managerLoading controller 'velocity_force_controller' +369.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +369.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +369.85sINFOros2-9process has finished cleanly [pid 10486] ×2 +369.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +369.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +370.19sINFOros2_control_node[2026-07-30 20:08:55.208] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +370.19sINFOros2_control_node[2026-07-30 20:08:55.209] [info] Controller state will be published at 10 Hz. ×2 +370.19sINFOros2_control_node[2026-07-30 20:08:55.210] [info] VelocityForceController 'on_configure' succeeded. ×2 +370.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910459 ms (missed cycles : 5). +370.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910459 ms (missed cycles : 5).[0m ×2 +370.54sINFOros2-16process has finished cleanly [pid 10493] ×2 +370.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +370.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +370.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +370.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +370.60sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +370.61sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +370.87sINFOros2_control_node[2026-07-30 20:08:55.892] [info] Controller state will be published at 20 Hz. ×2 +370.87sINFOros2_control_node[2026-07-30 20:08:55.893] [info] JointVelocityController 'on_configure' succeeded. ×2 +371.25sINFOros2-19process has finished cleanly [pid 10496] ×2 +371.28sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +371.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738215 ms (missed cycles : 3). +371.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738215 ms (missed cycles : 3).[0m ×2 +371.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +371.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +371.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +371.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +371.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +371.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +371.61sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +371.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +371.61sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +371.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +371.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +371.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +371.97sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +371.97sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ +371.97sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vafnna1k --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_r0cbkn1m --params-file /tmp/launch_params_sl808f5_ [0m ×2 +371.99sINFOros2-15process has finished cleanly [pid 10492] ×2 +372.02sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +372.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +372.03sINFOplatform_velocity_controller_nav2configure successful +372.44sINFOros2-14process has finished cleanly [pid 10491] ×2 +372.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430932 ms (missed cycles : 4). +372.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430932 ms (missed cycles : 4).[0m ×2 +373.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969174 ms (missed cycles : 3). +373.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969174 ms (missed cycles : 3).[0m ×2 +374.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). +374.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 +375.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). +375.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 +375.96sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +376.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). +376.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 +377.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +377.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +377.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +377.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 +377.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). +377.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 +377.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +377.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 +378.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +378.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). +378.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 +378.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 +379.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +379.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +379.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +379.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +379.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +379.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +379.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +379.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 +379.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). +379.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 +379.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +379.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +379.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +379.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.1s | 3 errors · 231 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.418931 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.418931 ms (missed cycles : 6).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.727ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043843 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043843 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315771 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315771 ms (missed cycles : 5).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.11sERRORobjective_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: 1785442348.60263896 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725942 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725942 ms (missed cycles : 2).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.001ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.307ms + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785442349.16568875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289056 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289056 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.957ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.813ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.376ms + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.01sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.772ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092846 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092846 ms (missed cycles : 3).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 3980 particles 723 points - 3.749ms + 5.80sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.810ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684101 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684101 ms (missed cycles : 6).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.723ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167877 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167877 ms (missed cycles : 3).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.985ms + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333092 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333092 ms (missed cycles : 3).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559875 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559875 ms (missed cycles : 5).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621951 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621951 ms (missed cycles : 4).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms ×3 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982467 ms (missed cycles : 5). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982467 ms (missed cycles : 5).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373378 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373378 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.708ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838082 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838082 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841544 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841544 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202369 ms (missed cycles : 4). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202369 ms (missed cycles : 4).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720415 ms (missed cycles : 8). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720415 ms (missed cycles : 8).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555141 ms (missed cycles : 4). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555141 ms (missed cycles : 4).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424697 ms (missed cycles : 5). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424697 ms (missed cycles : 5).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853634 ms (missed cycles : 4). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853634 ms (missed cycles : 4).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149579 ms (missed cycles : 4). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149579 ms (missed cycles : 4).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.698ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403591 ms (missed cycles : 4). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403591 ms (missed cycles : 4).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422663 ms (missed cycles : 4). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422663 ms (missed cycles : 4).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822004 ms (missed cycles : 2). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822004 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712289 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712289 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.378929 ms (missed cycles : 8). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.378929 ms (missed cycles : 8).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874548 ms (missed cycles : 5). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874548 ms (missed cycles : 5).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062979 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062979 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.696ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775888 ms (missed cycles : 5). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775888 ms (missed cycles : 5).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603521 ms (missed cycles : 3). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603521 ms (missed cycles : 3).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096661 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096661 ms (missed cycles : 4).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 32.25sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.25sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.43sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202596 ms (missed cycles : 2). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202596 ms (missed cycles : 2).[0m ×2 + 33.12sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 33.12sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002497 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002497 ms (missed cycles : 3).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396210 ms (missed cycles : 3). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396210 ms (missed cycles : 3).[0m ×2 + 35.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 35.50sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759158 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759158 ms (missed cycles : 3).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465417 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465417 ms (missed cycles : 3).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.703ms + 37.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.643ms + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879874 ms (missed cycles : 2). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879874 ms (missed cycles : 2).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.649ms + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473533 ms (missed cycles : 4). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473533 ms (missed cycles : 4).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513062 ms (missed cycles : 6). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513062 ms (missed cycles : 6).[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164690 ms (missed cycles : 2). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164690 ms (missed cycles : 2).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356318 ms (missed cycles : 4). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356318 ms (missed cycles : 4).[0m ×2 + 42.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.658ms + 43.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395885 ms (missed cycles : 2). + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395885 ms (missed cycles : 2).[0m ×2 + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375202 ms (missed cycles : 5). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375202 ms (missed cycles : 5).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449441 ms (missed cycles : 2). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449441 ms (missed cycles : 2).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486383 ms (missed cycles : 2). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486383 ms (missed cycles : 2).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486209 ms (missed cycles : 4). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486209 ms (missed cycles : 4).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288324 ms (missed cycles : 2). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288324 ms (missed cycles : 2).[0m ×2 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569067 ms (missed cycles : 4). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569067 ms (missed cycles : 4).[0m ×2 + 49.81sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654979 ms (missed cycles : 3). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654979 ms (missed cycles : 3).[0m ×2 + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701986 ms (missed cycles : 2). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701986 ms (missed cycles : 2).[0m ×2 + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024632 ms (missed cycles : 6). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024632 ms (missed cycles : 6).[0m ×2 + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753193 ms (missed cycles : 4). + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753193 ms (missed cycles : 4).[0m ×2 + 54.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms ×2 + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366549 ms (missed cycles : 2). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366549 ms (missed cycles : 2).[0m ×2 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114129 ms (missed cycles : 4). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114129 ms (missed cycles : 4).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881023 ms (missed cycles : 2). + 57.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881023 ms (missed cycles : 2).[0m ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978155 ms (missed cycles : 2). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978155 ms (missed cycles : 2).[0m ×2 + 58.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054337 ms (missed cycles : 3). + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054337 ms (missed cycles : 3).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.682ms + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898117 ms (missed cycles : 5). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898117 ms (missed cycles : 5).[0m ×2 + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 61.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542387 ms (missed cycles : 4). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542387 ms (missed cycles : 4).[0m ×2 + 61.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.647ms + 62.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039037 ms (missed cycles : 2). + 62.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039037 ms (missed cycles : 2).[0m ×2 + 62.88sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 63.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746009 ms (missed cycles : 3). + 63.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746009 ms (missed cycles : 3).[0m ×2 + 64.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705328 ms (missed cycles : 2). + 64.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705328 ms (missed cycles : 2).[0m ×2 + 65.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714976 ms (missed cycles : 2). + 65.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714976 ms (missed cycles : 2).[0m ×2 + 66.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597339 ms (missed cycles : 3). + 66.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597339 ms (missed cycles : 3).[0m ×2 + 66.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.684ms + 67.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797102 ms (missed cycles : 4). + 67.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797102 ms (missed cycles : 4).[0m ×2 + 67.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 68.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132624 ms (missed cycles : 4). + 68.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132624 ms (missed cycles : 4).[0m ×2 + 68.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 69.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819515 ms (missed cycles : 3). + 69.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819515 ms (missed cycles : 3).[0m ×2 + 70.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 70.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873702 ms (missed cycles : 4). + 70.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873702 ms (missed cycles : 4).[0m ×2 + 71.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 71.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015040 ms (missed cycles : 3). + 71.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015040 ms (missed cycles : 3).[0m ×2 + 72.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647076 ms (missed cycles : 4). + 72.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647076 ms (missed cycles : 4).[0m ×2 + 72.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 73.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359369 ms (missed cycles : 6). + 73.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359369 ms (missed cycles : 6).[0m ×2 + 74.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 74.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785442419.70588231 seconds ×3 + 74.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.057ms + 74.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.029ms + 74.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041237 ms (missed cycles : 2). + 74.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041237 ms (missed cycles : 2).[0m ×2 + 74.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785442420.24857330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 75.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 75.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 76.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 76.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 77.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.6s | 186 warnings · 153 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4).[0m ×2 + 0.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785442188.29250407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.2411e-05 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.31sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.31sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.31sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.40sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785442191.21267009 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785442191.75780559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767950 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767950 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858543 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858543 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988805 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988805 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325435 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325435 ms (missed cycles : 5).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.641ms + 8.09sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.366ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142754 ms (missed cycles : 5). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142754 ms (missed cycles : 5).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.346ms + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756158 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756158 ms (missed cycles : 2).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799953 ms (missed cycles : 5). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799953 ms (missed cycles : 5).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596716 ms (missed cycles : 4). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596716 ms (missed cycles : 4).[0m ×2 + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659791 ms (missed cycles : 4). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659791 ms (missed cycles : 4).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 13.19sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681714 ms (missed cycles : 4). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681714 ms (missed cycles : 4).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355653 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355653 ms (missed cycles : 2).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535447 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535447 ms (missed cycles : 3).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565552 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565552 ms (missed cycles : 3).[0m ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381634 ms (missed cycles : 4). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381634 ms (missed cycles : 4).[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514012 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514012 ms (missed cycles : 3).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223577 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223577 ms (missed cycles : 2).[0m ×2 + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335173 ms (missed cycles : 5). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335173 ms (missed cycles : 5).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553675 ms (missed cycles : 4). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553675 ms (missed cycles : 4).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779829 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779829 ms (missed cycles : 3).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135967 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135967 ms (missed cycles : 2).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951928 ms (missed cycles : 3). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951928 ms (missed cycles : 3).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.677ms + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470947 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470947 ms (missed cycles : 3).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2).[0m ×2 + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961839 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961839 ms (missed cycles : 3).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375953 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375953 ms (missed cycles : 3).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212116 ms (missed cycles : 4). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212116 ms (missed cycles : 4).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914774 ms (missed cycles : 2). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914774 ms (missed cycles : 2).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544777 ms (missed cycles : 3). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544777 ms (missed cycles : 3).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835846 ms (missed cycles : 3). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835846 ms (missed cycles : 3).[0m ×2 + 34.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 34.25sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663997 ms (missed cycles : 3). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663997 ms (missed cycles : 3).[0m ×2 + 35.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453710 ms (missed cycles : 7). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453710 ms (missed cycles : 7).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255749 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255749 ms (missed cycles : 2).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564020 ms (missed cycles : 4). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564020 ms (missed cycles : 4).[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029318 ms (missed cycles : 4). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029318 ms (missed cycles : 4).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044830 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044830 ms (missed cycles : 2).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206058 ms (missed cycles : 2). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206058 ms (missed cycles : 2).[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783279 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783279 ms (missed cycles : 2).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523818 ms (missed cycles : 3). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523818 ms (missed cycles : 3).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002948 ms (missed cycles : 2). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002948 ms (missed cycles : 2).[0m ×2 + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338001 ms (missed cycles : 2). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338001 ms (missed cycles : 2).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275221 ms (missed cycles : 5). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275221 ms (missed cycles : 5).[0m ×2 + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575894 ms (missed cycles : 2). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575894 ms (missed cycles : 2).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.662ms + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187901 ms (missed cycles : 2). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187901 ms (missed cycles : 2).[0m ×2 + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987621 ms (missed cycles : 4). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987621 ms (missed cycles : 4).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722783 ms (missed cycles : 2). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722783 ms (missed cycles : 2).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 51.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890763 ms (missed cycles : 6). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890763 ms (missed cycles : 6).[0m ×2 + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901123 ms (missed cycles : 3). + 52.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901123 ms (missed cycles : 3).[0m ×2 + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070190 ms (missed cycles : 2). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070190 ms (missed cycles : 2).[0m ×2 + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207202 ms (missed cycles : 3). + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207202 ms (missed cycles : 3).[0m ×2 + 55.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 55.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287026 ms (missed cycles : 4). + 55.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287026 ms (missed cycles : 4).[0m ×2 + 56.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2). + 56.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 59.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 60.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 60.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 60.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 60.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 60.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 60.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 60.90sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 60.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 62.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 62.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 63.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 63.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.1s | 183 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.36sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 + 7.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.298ms + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238199 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238199 ms (missed cycles : 5).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.848ms + 8.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.636ms + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333010 ms (missed cycles : 5). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333010 ms (missed cycles : 5).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.317ms + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.417ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702505 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702505 ms (missed cycles : 4).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.656ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.029ms + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.599ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762570 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762570 ms (missed cycles : 2).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.765ms + 11.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.939ms + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404374 ms (missed cycles : 5). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404374 ms (missed cycles : 5).[0m ×2 + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.790ms + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.796ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882240 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882240 ms (missed cycles : 2).[0m ×2 + 13.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.218ms + 13.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.806ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079423 ms (missed cycles : 5). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079423 ms (missed cycles : 5).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 4983 particles 723 points - 5.069ms + 14.94sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 4.751ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993366 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993366 ms (missed cycles : 2).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 4652 particles 723 points - 4.786ms + 15.95sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 5.334ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653314 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653314 ms (missed cycles : 4).[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 3.902ms + 16.94sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 3.206ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648026 ms (missed cycles : 4). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648026 ms (missed cycles : 4).[0m ×2 + 17.44sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.665ms + 17.94sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 2.744ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832221 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832221 ms (missed cycles : 2).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.505ms + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023348 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023348 ms (missed cycles : 3).[0m ×2 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 19.75sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091428 ms (missed cycles : 2). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091428 ms (missed cycles : 2).[0m ×2 + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.716ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986205 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986205 ms (missed cycles : 2).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591641 ms (missed cycles : 6). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591641 ms (missed cycles : 6).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147330 ms (missed cycles : 5). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147330 ms (missed cycles : 5).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203588 ms (missed cycles : 4). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203588 ms (missed cycles : 4).[0m ×2 + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534448 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534448 ms (missed cycles : 2).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.681ms + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166285 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166285 ms (missed cycles : 2).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278652 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278652 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187820 ms (missed cycles : 3). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187820 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.717ms + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423101 ms (missed cycles : 4). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423101 ms (missed cycles : 4).[0m ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625512 ms (missed cycles : 3). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625512 ms (missed cycles : 3).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486892 ms (missed cycles : 4). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486892 ms (missed cycles : 4).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944565 ms (missed cycles : 2). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944565 ms (missed cycles : 2).[0m ×2 + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 33.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459054 ms (missed cycles : 3). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459054 ms (missed cycles : 3).[0m ×2 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713694 ms (missed cycles : 4). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713694 ms (missed cycles : 4).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297498 ms (missed cycles : 2). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297498 ms (missed cycles : 2).[0m ×2 + 37.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467621 ms (missed cycles : 2). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467621 ms (missed cycles : 2).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591417 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591417 ms (missed cycles : 2).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564671 ms (missed cycles : 3). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564671 ms (missed cycles : 3).[0m ×2 + 39.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625011 ms (missed cycles : 4). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625011 ms (missed cycles : 4).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918774 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918774 ms (missed cycles : 2).[0m ×2 + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284965 ms (missed cycles : 5). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284965 ms (missed cycles : 5).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609404 ms (missed cycles : 4). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609404 ms (missed cycles : 4).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056054 ms (missed cycles : 4). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056054 ms (missed cycles : 4).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801801 ms (missed cycles : 2). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801801 ms (missed cycles : 2).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695730 ms (missed cycles : 2). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695730 ms (missed cycles : 2).[0m ×2 + 47.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 47.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700716 ms (missed cycles : 2). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700716 ms (missed cycles : 2).[0m ×2 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719845 ms (missed cycles : 4). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719845 ms (missed cycles : 4).[0m ×2 + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802310 ms (missed cycles : 2). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802310 ms (missed cycles : 2).[0m ×2 + 50.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068875 ms (missed cycles : 4). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068875 ms (missed cycles : 4).[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933221 ms (missed cycles : 3). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933221 ms (missed cycles : 3).[0m ×2 + 52.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115010 ms (missed cycles : 3). + 52.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115010 ms (missed cycles : 3).[0m ×2 + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009904 ms (missed cycles : 3). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009904 ms (missed cycles : 3).[0m ×2 + 54.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 54.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997278 ms (missed cycles : 3). + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997278 ms (missed cycles : 3).[0m ×2 + 55.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897553 ms (missed cycles : 2). + 55.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897553 ms (missed cycles : 2).[0m ×2 + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957568 ms (missed cycles : 3). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957568 ms (missed cycles : 3).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527167 ms (missed cycles : 4). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527167 ms (missed cycles : 4).[0m ×2 + 58.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075830 ms (missed cycles : 2). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075830 ms (missed cycles : 2).[0m ×2 + 59.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785442480.56818438 seconds ×3 + 59.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.272ms + 59.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.923ms + 59.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.860ms + 59.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785442481.12036347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 60.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 60.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114879 ms (missed cycles : 2). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114879 ms (missed cycles : 2).[0m ×2 + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823897 ms (missed cycles : 4). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823897 ms (missed cycles : 4).[0m ×2 + 61.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.408ms + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754859 ms (missed cycles : 4). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754859 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.0s | 174 warnings · 167 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785442283.79314137 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.837ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785442284.34089136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.720ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.16sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845746 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845746 ms (missed cycles : 2).[0m ×2 + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.782ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913169 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913169 ms (missed cycles : 3).[0m ×2 + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.437ms + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.412ms + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733491 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733491 ms (missed cycles : 2).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.086ms + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.001ms + 10.40sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 4.711ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121441 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121441 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 4.175ms + 11.41sINFOamclParticle filter update iteration stats: 3378 particles 723 points - 3.486ms + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013093 ms (missed cycles : 5). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013093 ms (missed cycles : 5).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 3.149ms + 12.40sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.572ms + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876663 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876663 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.594ms + 13.40sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.401ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126552 ms (missed cycles : 4). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126552 ms (missed cycles : 4).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 1.838ms + 14.40sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 1.586ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476422 ms (missed cycles : 5). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476422 ms (missed cycles : 5).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.808ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197200 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197200 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930722 ms (missed cycles : 3). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930722 ms (missed cycles : 3).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991086 ms (missed cycles : 4). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991086 ms (missed cycles : 4).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895773 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895773 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251905 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251905 ms (missed cycles : 3).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.682ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652328 ms (missed cycles : 3). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652328 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466276 ms (missed cycles : 3). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466276 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400932 ms (missed cycles : 2). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400932 ms (missed cycles : 2).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957805 ms (missed cycles : 4). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957805 ms (missed cycles : 4).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160679 ms (missed cycles : 2). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160679 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236580 ms (missed cycles : 2). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236580 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.633ms + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237742 ms (missed cycles : 2). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237742 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670887 ms (missed cycles : 3). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670887 ms (missed cycles : 3).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919868 ms (missed cycles : 4). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919868 ms (missed cycles : 4).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332753 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332753 ms (missed cycles : 2).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554211 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554211 ms (missed cycles : 2).[0m ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897114 ms (missed cycles : 6). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897114 ms (missed cycles : 6).[0m ×2 + 33.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836390 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836390 ms (missed cycles : 2).[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003062 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003062 ms (missed cycles : 2).[0m ×2 + 35.18sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180173 ms (missed cycles : 5). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180173 ms (missed cycles : 5).[0m ×2 + 35.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.81sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889234 ms (missed cycles : 3). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889234 ms (missed cycles : 3).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623811 ms (missed cycles : 4). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623811 ms (missed cycles : 4).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 38.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.567ms + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753699 ms (missed cycles : 2). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753699 ms (missed cycles : 2).[0m ×2 + 39.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748259 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748259 ms (missed cycles : 2).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.679ms + 40.50sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079750 ms (missed cycles : 3). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079750 ms (missed cycles : 3).[0m ×2 + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924932 ms (missed cycles : 2). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924932 ms (missed cycles : 2).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933397 ms (missed cycles : 2). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933397 ms (missed cycles : 2).[0m ×2 + 43.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.681ms + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052242 ms (missed cycles : 2). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052242 ms (missed cycles : 2).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751528 ms (missed cycles : 2). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751528 ms (missed cycles : 2).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.646ms + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060073 ms (missed cycles : 2). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060073 ms (missed cycles : 2).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.705ms + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.664ms + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397553 ms (missed cycles : 2). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397553 ms (missed cycles : 2).[0m ×2 + 48.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.263024 ms (missed cycles : 5). + 48.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.263024 ms (missed cycles : 5).[0m ×2 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.698ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832368 ms (missed cycles : 5). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832368 ms (missed cycles : 5).[0m ×2 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066586 ms (missed cycles : 2). + 50.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066586 ms (missed cycles : 2).[0m ×2 + 51.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932966 ms (missed cycles : 3). + 51.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932966 ms (missed cycles : 3).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756654 ms (missed cycles : 2). + 52.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756654 ms (missed cycles : 2).[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 53.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060714 ms (missed cycles : 2). + 53.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060714 ms (missed cycles : 2).[0m ×2 + 54.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855179 ms (missed cycles : 2). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855179 ms (missed cycles : 2).[0m ×2 + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955041 ms (missed cycles : 2). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955041 ms (missed cycles : 2).[0m ×2 + 55.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991127 ms (missed cycles : 4). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991127 ms (missed cycles : 4).[0m ×2 + 57.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785442337.82103992 seconds ×3 + 57.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.948ms + 57.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.395ms + 57.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107939 ms (missed cycles : 2). + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107939 ms (missed cycles : 2).[0m ×2 + 57.88sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785442338.36853004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.659ms + 58.19sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 58.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.306ms + 58.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 58.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.637ms + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375214 ms (missed cycles : 4). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375214 ms (missed cycles : 4).[0m ×2 + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.150ms + 59.33sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.309ms + 59.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569672 ms (missed cycles : 2). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569672 ms (missed cycles : 2).[0m ×2 + 60.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.702ms + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.554ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 147 warnings · 152 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 4.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781329 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781329 ms (missed cycles : 2).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434209 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434209 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246321 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246321 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731737 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731737 ms (missed cycles : 2).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220020 ms (missed cycles : 5). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220020 ms (missed cycles : 5).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910020 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910020 ms (missed cycles : 3).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732351 ms (missed cycles : 5). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732351 ms (missed cycles : 5).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271192 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271192 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704094 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704094 ms (missed cycles : 2).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552714 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552714 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734717 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734717 ms (missed cycles : 3).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717511 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717511 ms (missed cycles : 2).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767503 ms (missed cycles : 3). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767503 ms (missed cycles : 3).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.134ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625592 ms (missed cycles : 3). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625592 ms (missed cycles : 3).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921236 ms (missed cycles : 3). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921236 ms (missed cycles : 3).[0m ×2 + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595880 ms (missed cycles : 3). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595880 ms (missed cycles : 3).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013312 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013312 ms (missed cycles : 3).[0m ×2 + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437602 ms (missed cycles : 2). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437602 ms (missed cycles : 2).[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389631 ms (missed cycles : 4). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389631 ms (missed cycles : 4).[0m ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076863 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076863 ms (missed cycles : 3).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536612 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536612 ms (missed cycles : 3).[0m ×2 + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095352 ms (missed cycles : 2). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095352 ms (missed cycles : 2).[0m ×2 + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630504 ms (missed cycles : 3). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630504 ms (missed cycles : 3).[0m ×2 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495601 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495601 ms (missed cycles : 3).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941451 ms (missed cycles : 3). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941451 ms (missed cycles : 3).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666088 ms (missed cycles : 4). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666088 ms (missed cycles : 4).[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915235 ms (missed cycles : 3). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915235 ms (missed cycles : 3).[0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936736 ms (missed cycles : 3). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936736 ms (missed cycles : 3).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944964 ms (missed cycles : 3). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944964 ms (missed cycles : 3).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285605 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285605 ms (missed cycles : 2).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763197 ms (missed cycles : 2). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763197 ms (missed cycles : 2).[0m ×2 + 39.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485937 ms (missed cycles : 3). + 39.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485937 ms (missed cycles : 3).[0m ×2 + 40.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963402 ms (missed cycles : 3). + 40.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963402 ms (missed cycles : 3).[0m ×2 + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707452 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707452 ms (missed cycles : 3).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511486 ms (missed cycles : 4). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511486 ms (missed cycles : 4).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3).[0m ×2 + 46.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785442187.73996067 seconds ×3 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4).[0m ×2 + 47.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785442188.29250407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5).[0m ×2 + 48.09sINFOobjective_server_nodeFound path in 0 iterations (3.2411e-05 s). ×2 + 48.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2).[0m ×2 + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5).[0m ×2 + 50.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785442191.21267009 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 105 warnings · 121 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.116ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186062 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186062 ms (missed cycles : 2).[0m ×2 + 1.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785442252.38238430 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736318 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736318 ms (missed cycles : 2).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002219 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002219 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785442253.93172669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485416 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485416 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903122 ms (missed cycles : 5). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903122 ms (missed cycles : 5).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645808 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645808 ms (missed cycles : 4).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.959ms + 7.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.082ms + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689157 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689157 ms (missed cycles : 5).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.550ms + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.403ms + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058666 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058666 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.551ms + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.021ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138200 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138200 ms (missed cycles : 2).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.143ms + 10.59sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.588ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234253 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234253 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.824ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.689ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922015 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922015 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 12.60sINFOamclParticle filter update iteration stats: 4869 particles 723 points - 4.646ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670169 ms (missed cycles : 5). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670169 ms (missed cycles : 5).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 4.063ms + 13.60sINFOamclParticle filter update iteration stats: 4166 particles 723 points - 3.829ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678624 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678624 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 3804 particles 723 points - 4.176ms + 14.60sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 3.466ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892675 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892675 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 3.235ms + 15.60sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.745ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557816 ms (missed cycles : 5). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557816 ms (missed cycles : 5).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.457ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009756 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009756 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995074 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995074 ms (missed cycles : 2).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047946 ms (missed cycles : 4). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047946 ms (missed cycles : 4).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235698 ms (missed cycles : 5). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235698 ms (missed cycles : 5).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205127 ms (missed cycles : 2). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205127 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.703ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.676ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506552 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506552 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956688 ms (missed cycles : 3). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956688 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697925 ms (missed cycles : 5). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697925 ms (missed cycles : 5).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072330 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072330 ms (missed cycles : 2).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935976 ms (missed cycles : 3). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935976 ms (missed cycles : 3).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912817 ms (missed cycles : 6). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912817 ms (missed cycles : 6).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799410 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799410 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.655672 ms (missed cycles : 7). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.655672 ms (missed cycles : 7).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3).[0m ×2 + 33.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785442283.79314137 seconds ×3 + 33.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.837ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4).[0m ×2 + 33.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 33.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785442284.34089136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.720ms + 34.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 34.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 34.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2).[0m ×2 + 35.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 35.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5).[0m ×2 + 36.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 57 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897553 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897553 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957568 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957568 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527167 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527167 ms (missed cycles : 4).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075830 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075830 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.35sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785442480.56818438 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.272ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.923ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.860ms + 3.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785442481.12036347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114879 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114879 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823897 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823897 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.408ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754859 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754859 ms (missed cycles : 4).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.631ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732227 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732227 ms (missed cycles : 4).[0m ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630546 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630546 ms (missed cycles : 4).[0m ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 8.90sINFOobjective_server_nodeFound path in 69 iterations (0.039392 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512582 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512582 ms (missed cycles : 3).[0m ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.90sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659032 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659032 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064010 ms (missed cycles : 4). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064010 ms (missed cycles : 4).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.621ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.852ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496331 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496331 ms (missed cycles : 4).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 13.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.796ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.442ms + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3).[0m ×2 + 15.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785442493.07750225 seconds ×3 + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.019ms + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 16.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442493.65131021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.46sINFOmove_groupClearing octomap...[0m ×2 + 16.46sINFOmove_groupOctomap cleared.[0m ×2 + 16.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.448ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4).[0m ×2 + 16.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442494.02201557 seconds ×3 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 17.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442494.56279373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.589ms + 17.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442494.91575265 seconds ×3 + 17.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.527ms + 17.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.894ms + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3). + 18.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3).[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 87 errors · 30 warnings · 384 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.796ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.442ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785442493.07750225 seconds ×3 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.019ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 2.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442493.65131021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.448ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442494.02201557 seconds ×3 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 3.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442494.56279373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.589ms + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442494.91575265 seconds ×3 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.527ms + 4.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.894ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3). + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140010 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140010 ms (missed cycles : 3).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865745 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865745 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720779 ms (missed cycles : 4). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720779 ms (missed cycles : 4).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733917 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733917 ms (missed cycles : 2).[0m ×2 + 10.21sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.51sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 10.53sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_video_auth_proxy-34process has died [pid 10533, 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 + 10.54sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 10.55sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORweb_bridge_auth_proxy-33process has died [pid 10532, 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 + 10.56sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 10.62sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 10.64sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 10.66sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 10.68sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 10.69sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.71sINFOvideo_server-32process has finished cleanly [pid 10531] ×2 + 10.71sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 10.71sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.74sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.76sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.78sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.80sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.82sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.84sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.86sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.86sINFOcontroller_managerShutdown request received.... + 10.86sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.86sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.86sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.86sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.86sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.86sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.86sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.86sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.86sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.86sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.86sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.86sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.87sINFOcontroller_managerShutting down the controller manager. + 10.88sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.88sINFOtf2_web_republisher_node-31process has finished cleanly [pid 10528] ×2 + 10.89sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.90sERRORmove_group-20process has died [pid 10497, 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_ajbsz7x_ --params-file /tmp/launch_params_fgd36d25 --params-file /tmp/launch_params_2zatbk0l --params-file /tmp/launch_params_013ii9vj --params-file /tmp/launch_params_2qfxjj5b --params-file /tmp/launch_params_8z_17vqp']. ×2 + 10.91sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.92sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.94sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.95sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.95sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.95sINFOmap_serverDeactivating + 10.95sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.95sINFOvideo_server2026/07/30 20:15:01 INF shutting down gracefully ×2 + 10.95sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOvideo_server2026/07/30 20:15:01 INF [WebRTC] closing ×2 + 10.96sINFOvideo_server2026/07/30 20:15:01 INF [RTSP] closing ×2 + 10.96sINFOvideo_server2026/07/30 20:15:01 INF waiting for running hooks ×2 + 10.96sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.96sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.96sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 10.96sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.96sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.96sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.96sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.96sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.96sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.96sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.96sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.96sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmap_serverCleaning up + 10.96sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.96sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.96sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.97sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.97sERRORmove_groupStack trace (most recent call last) in thread 11094: ×2 + 10.97sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.97sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25d1c1a63, in __clone ×2 + 10.97sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25d134aa3, in ×2 + 10.97sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd25d3c6db3, in ×2 + 10.97sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd25db09ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.97sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd25d7394d0, in rclcpp::Rate::sleep() ×2 + 10.97sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd25d68ca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.97sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd25d651a71, in ×2 + 10.97sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd25d395390, in __cxa_throw ×2 + 10.97sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd25d37fa54, in std::terminate() ×2 + 10.97sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd25d3950d9, in ×2 + 10.97sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd25d37fff4, in ×2 + 10.97sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25d0c08fe, in abort ×2 + 10.97sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25d0dd27d, in raise ×2 + 10.97sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd25d136b2c, in pthread_kill ×2 + 10.97sERRORmove_groupAborted (Signal sent by tkill() 10497 0) ×2 + 10.97sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.97sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.97sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.97sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.97sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.97sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.97sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.97sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.97sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.97sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.97sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.97sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 10.97sINFOobjective_server_node[2026-07-30 20:15:01.669] [moveit_pro_license] [info] ×2 + 10.97sINFOobjective_server_node************************************************* ×4 + 10.97sINFOobjective_server_node* MoveIt Pro License ×2 + 10.97sINFOobjective_server_node* Application has successfully terminated ×2 + 10.97sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.97sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.97sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.97sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.97sINFOodom_qos_relay.pymain() ×2 + 10.97sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.97sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.97sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.97sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.98sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.98sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.98sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.98sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.98sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.98sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.98sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.98sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.98sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.98sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.98sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.98sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559ea73c46a4, in _start ×2 + 10.98sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9edbf328a, in __libc_start_main ×2 + 10.98sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9edbf31d0, in ×2 + 10.98sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9edc10bbd, in exit ×2 + 10.98sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa9edc10a75, in ×2 + 10.98sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fa9ee0df8f5, in spdlog::details::registry::~registry() ×2 + 10.98sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559ea73c4d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.98sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559ea73cb315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.98sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559ea73ca5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.98sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559ea73c6b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.98sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559ea73c4d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.98sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9ee799454, in rclcpp::Node::~Node() ×2 + 10.98sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9ee754515, in ×2 + 10.98sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9ee797d20, in ×2 + 10.98sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9ee797c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.98sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9ee7545d9, in ×2 + 10.98sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa9ee759161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.98sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa9aac96450]) ×2 + 10.98sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.98sERRORamclThe bond connection to the lifecycle manager has been broken + 10.98sERRORobjective_server_node_main-25process has died [pid 10522, 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_k3onp4gb --params-file /tmp/launch_params_429weah2 --params-file /tmp/launch_params_dwe_t3vk --params-file /tmp/launch_params_g6w_g59v --params-file /tmp/launch_params_jgfem74w --params-file /tmp/launch_params_gd62kvwh --params-file /tmp/launch_params_ecygcnyo --params-file /tmp/launch_params_f28y6wee --params-file /tmp/launch_params_lfvz5qq9']. ×2 + 10.98sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.08sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.08sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.08sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.77sERRORui_teleop_bridge-29process has died [pid 10526, 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_556q3u0r']. ×2 + 11.78sINFOexecute_objective_bridge-28process has finished cleanly [pid 10525] ×2 + 11.80sINFOcomponent_container_mt-27process has finished cleanly [pid 10524] ×2 + 11.81sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10521] ×2 + 11.84sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10500] ×2 + 11.88sINFOparameter_manager_node-21process has finished cleanly [pid 10498] ×2 + 11.89sINFOwaypoint_manager_node-22process has finished cleanly [pid 10499] ×2 + 11.92sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10407] ×2 + 11.92sINFOcomponent_container_mt-26process has finished cleanly [pid 10523] ×2 + 11.93sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10406] ×2 + 11.96sINFOstatic_transform_publisher-4process has finished cleanly [pid 10404] ×2 + 11.98sINFOstatic_transform_publisher-3process has finished cleanly [pid 10403] ×2 + 11.99sERRORodom_qos_relay.py-5process has died [pid 10405, 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 + 13.28sERRORcomponent_container_isolated-2process has died [pid 10402, 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_au0sxxwp --params-file /tmp/launch_params_kxt4v7t9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.51sINFOweb_bridge-30process has finished cleanly [pid 10527] ×2 + 13.51sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 13.63sINFOros2_control_node-8process has finished cleanly [pid 10408] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 51 warnings · 97 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855179 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855179 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955041 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955041 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991127 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991127 ms (missed cycles : 4).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785442337.82103992 seconds ×3 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.948ms + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.395ms + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107939 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107939 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785442338.36853004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.659ms + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.306ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.637ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375214 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375214 ms (missed cycles : 4).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.150ms + 5.03sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.309ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569672 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569672 ms (missed cycles : 2).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.702ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.554ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888567 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888567 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695238 ms (missed cycles : 6). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695238 ms (missed cycles : 6).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 4828 particles 723 points - 4.247ms + 8.30sINFOamclParticle filter update iteration stats: 3222 particles 723 points - 4.604ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475443 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475443 ms (missed cycles : 2).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.532ms + 9.30sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.420ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724988 ms (missed cycles : 5). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724988 ms (missed cycles : 5).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.418931 ms (missed cycles : 6). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.418931 ms (missed cycles : 6).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.727ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043843 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043843 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315771 ms (missed cycles : 5). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315771 ms (missed cycles : 5).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 13.80sINFOobjective_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 + 13.81sINFOjoint_trajectory_controllerGot request to cancel goal + 13.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.81sERRORobjective_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: 1785442348.60263896 seconds ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725942 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725942 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.001ms + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.307ms + 14.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785442349.16568875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 14.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289056 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289056 ms (missed cycles : 5).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.957ms + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.813ms + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.376ms + 15.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.772ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092846 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092846 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 3980 particles 723 points - 3.749ms + 16.50sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.810ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684101 ms (missed cycles : 6). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684101 ms (missed cycles : 6).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.723ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.35sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.116ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186062 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186062 ms (missed cycles : 2).[0m ×2 + 7.90sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785442252.38238430 seconds ×3 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736318 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736318 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002219 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002219 ms (missed cycles : 3).[0m ×2 + 9.45sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785442253.93172669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485416 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485416 ms (missed cycles : 4).[0m ×2 + 10.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903122 ms (missed cycles : 5). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903122 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.8s | 33 warnings · 63 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015040 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015040 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647076 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647076 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359369 ms (missed cycles : 6). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359369 ms (missed cycles : 6).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 2.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785442419.70588231 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.057ms + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.029ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041237 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041237 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785442420.24857330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 3.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 7.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 8.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785442187.73996067 seconds ×3 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785442188.29250407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.2411e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785442191.21267009 seconds ×3 + 7.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785442191.75780559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767950 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767950 ms (missed cycles : 3).[0m ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858543 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858543 ms (missed cycles : 3).[0m ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988805 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988805 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 0.9s | 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496331 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496331 ms (missed cycles : 4).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 0.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.796ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.442ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785442493.07750225 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.019ms + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442493.65131021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.79sINFOmove_groupClearing octomap...[0m ×2 + 3.79sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.448ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442494.02201557 seconds ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442494.56279373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.589ms + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442494.91575265 seconds ×3 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.527ms + 5.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.894ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3). + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140010 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140010 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.42sINFOmove_groupOctomap cleared.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 4.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785442187.73996067 seconds ×3 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785442188.29250407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.2411e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785442191.21267009 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292470 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591432 ms (missed cycles : 3).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785442187.73996067 seconds ×3 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785442188.29250407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.2411e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785442191.21267009 seconds ×3 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408955 ms (missed cycles : 4).[0m ×2 + 0.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785442188.29250407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669421 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.2411e-05 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357845 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190594 ms (missed cycles : 5).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785442191.21267009 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785442191.75780559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767950 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767950 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858543 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858543 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988805 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988805 ms (missed cycles : 2).[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 1.742224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 | ||||
| − 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 1.742224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 | ||||
| − 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 1.742224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 | ||||
| − 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 1.742224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742224 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706788 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356124 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769194 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785442247.84797120 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.143ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785442248.40187740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975952 ms (missed cycles : 3).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094625 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248055 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785442283.79314137 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.837ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785442284.34089136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.720ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785442283.79314137 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.837ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785442284.34089136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.720ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417553 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219880 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596631 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785442283.79314137 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.837ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054225 ms (missed cycles : 4).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785442284.34089136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.720ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815026 ms (missed cycles : 2).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.969ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126563 ms (missed cycles : 5).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508142 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478314 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013698 ms (missed cycles : 2).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.875ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785442424.45871377 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985065 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785442425.00805306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108276 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425652 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019543 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496331 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496331 ms (missed cycles : 4).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 0.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.796ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246904 ms (missed cycles : 3).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.442ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720548 ms (missed cycles : 3).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141972 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785442493.07750225 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.019ms + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442493.65131021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.79sINFOmove_groupClearing octomap...[0m ×2 + 3.79sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.448ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489296 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442494.02201557 seconds ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442494.56279373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.589ms + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442494.91575265 seconds ×3 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.527ms + 5.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.894ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3). + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812056 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090489 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 27 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969174 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 2.45sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.87sINFOmove_groupClearing octomap...[0m ×2 + 3.87sINFOmove_groupOctomap cleared.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 7.35sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sINFOjoint_trajectory_controllerReceived new action goal + 6.57sINFOjoint_trajectory_controllerAccepted new action goal + 6.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969174 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 2.45sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.87sINFOmove_groupClearing octomap...[0m ×2 + 3.87sINFOmove_groupOctomap cleared.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506037 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 6.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[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 | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361307 ms (missed cycles : 2).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860469 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785442142.39667177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785442142.40687346 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536734 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785442142.95986366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785442142.96999502 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785442143.50966978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045560 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785442143.66018534 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785442144.22432947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785442144.28448391 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269530 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785442144.82946157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532849 ms (missed cycles : 4).[0m ×2 + 5.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665132 ms (missed cycles : 3).[0m ×2 | ||||