MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.1s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.4s	13 errors · 309 warnings · 1176 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-26-15-29-44-833360-2594fb876b84-9206 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.81sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 12.81sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 12.92sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.94sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.95sINFOcontroller_managerupdate rate is 600 Hz + 12.95sINFOcontroller_managerOverruns handling is : enabled + 12.95sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.95sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451368 ms (missed cycles : 3). + 13.06sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.08sINFOros2_control_node-7process started with pid [9262] ×2 + 13.09sINFOmove_group-19process started with pid [9340] ×2 + 13.09sINFOparameter_manager_node-20process started with pid [9341] ×2 + 13.09sINFOwaypoint_manager_node-21process started with pid [9342] ×2 + 13.09sINFOmove_joint_resampler_node-22process started with pid [9343] ×2 + 13.09sINFOmove_end_effector_resampler_node-23process started with pid [9364] ×2 + 13.09sINFOobjective_server_node_main-24process started with pid [9365] ×2 + 13.09sINFOcomponent_container_mt-25process started with pid [9366] ×2 + 13.09sINFOcomponent_container_mt-26process started with pid [9367] ×2 + 13.09sINFOexecute_objective_bridge-27process started with pid [9368] ×2 + 13.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.11sINFOui_teleop_bridge-28process started with pid [9369] ×2 + 13.11sINFOweb_bridge-29process started with pid [9370] ×2 + 13.11sINFOtf2_web_republisher_node-30process started with pid [9373] ×2 + 13.11sINFOweb_video_server-31process started with pid [9374] ×2 + 13.11sINFOweb_bridge_auth_proxy-32process started with pid [9375] ×2 + 13.11sINFOweb_video_auth_proxy-33process started with pid [9376] ×2 + 13.11sINFOcomponent_container_isolated-1process started with pid [9256] ×2 + 13.11sINFOstatic_transform_publisher-2process started with pid [9257] ×2 + 13.11sINFOstatic_transform_publisher-3process started with pid [9258] ×2 + 13.11sINFOodom_qos_relay.py-4process started with pid [9259] ×2 + 13.11sINFOscan_to_scan_filter_chain-5process started with pid [9260] ×2 + 13.11sINFOscan_to_scan_filter_chain-6process started with pid [9261] ×2 + 13.11sINFOros2-8process started with pid [9263] ×2 + 13.11sINFOros2-9process started with pid [9330] ×2 + 13.11sINFOros2-10process started with pid [9331] ×2 + 13.11sINFOros2-11process started with pid [9332] ×2 + 13.11sINFOros2-12process started with pid [9333] ×2 + 13.11sINFOros2-13process started with pid [9334] ×2 + 13.11sINFOros2-14process started with pid [9335] ×2 + 13.11sINFOros2-15process started with pid [9336] ×2 + 13.11sINFOros2-16process started with pid [9337] ×2 + 13.11sINFOros2-17process started with pid [9338] ×2 + 13.11sINFOros2-18process started with pid [9339] ×2 + 13.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 13.17sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.21sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.21sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.21sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.21sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.21sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.21sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.21sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.21sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.21sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.21sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.21sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.21sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451368 ms (missed cycles : 3).[0m ×2 + 13.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.24sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.26sINFOcontroller_serverCreating controller server + 13.29sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.31sINFOlocal_costmap.local_costmapCreating Costmap + 13.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.32sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.43sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.43sINFOmap_serverCreating + 13.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.47sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.48sINFOsmoother_serverCreating smoother server + 13.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.49sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.49sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.55sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.57sINFOplanner_serverCreating + 13.60sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.60sINFOglobal_costmap.global_costmapCreating Costmap + 13.62sINFOrobot_state_publisherRobot initialized + 13.62sINFOcontroller_managerReceived robot description from topic. + 13.62sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.62sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.63sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.63sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.64sINFOlifecycle_manager_localizationCreating + 13.64sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.65sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.66sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.66sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.66sINFOmap_serverConfiguring + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.67sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.69sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.69sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×2 + 13.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.71sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.71sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.75sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.75sINFOamclConfiguring + 13.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.77sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.78sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.78sINFOmap_serverActivating + 13.78sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.80sINFObt_navigatorCreating + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.82sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.82sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.82sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 13.86sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.86sINFOwaypoint_followerCreating + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.90sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.90sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.90sINFOamclActivating + 13.91sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.91sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.95sINFOamclSubscribed to map_topic: /map + 13.95sINFOamclSubscribed to scan_topic: /scan_merged + 13.95sINFOamclCreated reinitialize_global_localization service + 13.95sINFOamclCreated request_nomotion_update service + 13.95sINFOamclA new map was received + 13.95sINFOamclInitializing particle filter instance + 13.96sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.01sINFOlifecycle_manager_navigationCreating + 14.01sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.04sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.04sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.04sINFOcontroller_serverConfiguring controller interface + 14.04sINFOcontroller_servergetting progress checker plugins.. + 14.04sINFOcontroller_servergetting goal checker plugins.. + 14.04sINFOcontroller_serverController frequency set to 20.0000Hz + 14.04sINFOlocal_costmap.local_costmapConfiguring + 14.06sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273225 ms (missed cycles : 4). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273225 ms (missed cycles : 4).[0m ×2 + 14.08sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.11sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.11sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.12sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.15sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.508805 seconds + 14.15sINFOmove_groupLoaded robot model in 0.508805 seconds[0m ×2 + 14.15sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.15sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.16sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.17sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.17sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.17sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.17sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.19sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.19sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.23sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.25sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.25sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.26sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.26sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.27sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.28sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.28sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.29sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.29sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.30sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.31sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.31sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.31sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.31sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.32sINFOcontroller_serverOptimizer reset + 14.33sINFOcontroller_serverController Server has FollowPath controllers available. + 14.36sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.36sINFOsmoother_serverConfiguring smoother server + 14.38sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.39sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.41sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.41sINFOplanner_serverConfiguring + 14.41sINFOglobal_costmap.global_costmapConfiguring + 14.42sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.44sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.44sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.44sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.44sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.47sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.47sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.47sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.50sINFOwaypoint_manager_nodeLoaded robot model in 0.329109 seconds[0m ×2 + 14.50sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.50sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.51sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 14.51sINFOplanner_serverCleaning up + 14.51sINFOglobal_costmap.global_costmapCleaning up + 14.51sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.61sINFOamclParticle filter initialization completed + 14.61sINFOamclInitializing particles from estimated pose and covariance + 14.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.72sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.72sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.72sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.72sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.99sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 15.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×8 + 15.01sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.01sWARNmove_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. + 15.01sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.02sWARNmove_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. + 15.02sWARNmove_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. + 15.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.02sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.03sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.06sWARNwaypoint_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. + 15.07sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.07sWARNwaypoint_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. + 15.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.08sWARNwaypoint_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. + 15.09sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.10sWARNwaypoint_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. + 15.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.10sWARNwaypoint_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. + 15.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.11sWARNwaypoint_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. + 15.11sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.11sWARNwaypoint_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. + 15.11sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.12sWARNwaypoint_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. + 15.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.12sWARNwaypoint_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. + 15.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581277 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581277 ms (missed cycles : 3).[0m ×2 + 15.13sWARNwaypoint_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. + 15.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.13sWARNwaypoint_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. + 15.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.17sWARNwaypoint_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. + 15.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.17sWARNwaypoint_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. + 15.17sWARNwaypoint_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. + 15.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.17sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.18sWARNwaypoint_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. + 15.18sWARNwaypoint_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. + 15.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.18sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.43sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.43sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.47sINFOmove_group[2026-07-26 15:30:03.506] [moveit_pro_license] [info] ×2 + 15.47sINFOmove_group************************************************* ×4 + 15.47sINFOmove_group* MoveIt Pro License ×2 + 15.47sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.66sINFOwaypoint_manager_node[2026-07-26 15:30:03.700] [moveit_pro_license] [info] ×2 + 15.66sINFOwaypoint_manager_node************************************************* ×4 + 15.66sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 15.66sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.81sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.81sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.81sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.81sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.81sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.81sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.81sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.81sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.82sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.82sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.82sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.82sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.82sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.82sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.82sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.82sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.82sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.82sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.01sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.01sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.01sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.12sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.12sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 16.12sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.12sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.12sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.12sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.12sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.12sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.12sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.12sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.12sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.16sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.16sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.16sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171041 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171041 ms (missed cycles : 2).[0m ×2 + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.24sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.24sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 16.24sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 16.24sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 16.24sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 16.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 16.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 16.28sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 16.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 16.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 16.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 16.29sINFOforce_torque_sensor_broadcasterconfigure successful + 16.29sINFOros2_control_nodeconfigure successful[0m ×6 + 16.29sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 16.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 16.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 16.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 16.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 16.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 16.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.42sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.54sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.54sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.54sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.55sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.55sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.55sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 16.55sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.55sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 16.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.55sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.64sINFOros2-8process has finished cleanly [pid 9263] ×2 + 16.66sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 16.66sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 16.66sINFOcontroller_managerLoading controller 'vacuum_gripper' + 16.66sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 16.66sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 16.67sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 16.67sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 16.69sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 16.69sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 16.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 16.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 16.71sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 16.71sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 16.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 16.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 16.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 16.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 16.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 16.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 16.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.78sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.80sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 16.80sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.82sINFOcomponent_container_mtLoaded robot model in 0.394848 seconds[0m ×2 + 16.82sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.82sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 16.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 16.99sINFOobjective_server_node[2026-07-26 15:30:05.030] [moveit_pro_license] [info] ×2 + 16.99sINFOobjective_server_node************************************************* ×4 + 16.99sINFOobjective_server_node* MoveIt Pro License ×2 + 16.99sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.02sINFOros2-12process has finished cleanly [pid 9333] ×2 + 17.06sINFOobjective_server_nodeLoaded robot model in 0.0243561 seconds[0m ×2 + 17.06sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.06sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.11sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 17.11sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.19sWARNcomponent_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 ×2 + 17.19sWARNcomponent_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 ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670278 ms (missed cycles : 2). + 17.19sWARNcomponent_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 ×2 + 17.19sWARNcomponent_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 ×2 + 17.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670278 ms (missed cycles : 2).[0m ×2 + 17.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 17.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 17.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 17.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 17.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.31sINFOmove_groupMoveGroup debug mode is ON + 17.31sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.32sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.37sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785079804.288 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 17.38sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.39sINFOcomponent_container_mt[2026-07-26 15:30:05.428] [moveit_pro_license] [info] ×2 + 17.39sINFOcomponent_container_mt************************************************* ×4 + 17.39sINFOcomponent_container_mt* MoveIt Pro License ×2 + 17.39sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.39sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.46sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.46sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.46sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.47sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.51sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 17.51sINFOmove_group ×8 + 17.51sINFOmove_group****************************************************** ×4 + 17.51sINFOmove_group* MoveGroup using: ×2 + 17.52sINFOmove_group* - apply_planning_scene_service ×2 + 17.52sINFOmove_group* - clear_octomap_service ×2 + 17.52sINFOmove_group* - get_group_urdf ×2 + 17.52sINFOmove_group* - load_geometry_from_file ×2 + 17.52sINFOmove_group* - get_planning_scene_service ×2 + 17.52sINFOmove_group* - kinematics_service ×2 + 17.52sINFOmove_group* - save_geometry_to_file ×2 + 17.52sINFOmove_group* - GetPlanningGroups ×2 + 17.52sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.52sINFOmove_group[0m ×2 + 17.52sINFOmove_group[92mYou can start planning now![0m ×2 + 17.54sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 17.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.56sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.56sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.59sINFOros2_control_node[2026-07-26 15:30:05.631] [info] Controller state will be published at 20 Hz. ×2 + 17.59sINFOros2_control_node[2026-07-26 15:30:05.632] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.73sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.73sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.91sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.91sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.91sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.91sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.92sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 17.92sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 17.95sINFOros2-17process has finished cleanly [pid 9338] ×2 + 18.01sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.01sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.01sINFOplatform_velocity_controller_nav2configure successful + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300989 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300989 ms (missed cycles : 2).[0m ×2 + 18.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 18.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 18.39sINFOros2-13process has finished cleanly [pid 9334] ×2 + 18.46sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.46sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.68sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.82sINFOros2_control_node[2026-07-26 15:30:06.857] [info] Controller state will be published at 20 Hz. ×2 + 18.82sINFOros2_control_node[2026-07-26 15:30:06.858] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.18sINFOros2-18process has finished cleanly [pid 9339] ×2 + 19.19sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698819 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698819 ms (missed cycles : 2).[0m ×2 + 19.20sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 19.20sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 19.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 19.28sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 19.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 19.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 19.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 19.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 19.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.66sINFOros2_control_node[2026-07-26 15:30:07.701] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.66sINFOros2_control_node[2026-07-26 15:30:07.704] [info] Controller state will be published at 10 Hz. ×2 + 19.67sINFOros2_control_node[2026-07-26 15:30:07.705] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.96sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785079806.888 for reason 'discarding message because the queue is full' + 20.02sINFOros2-15process has finished cleanly [pid 9336] ×2 + 20.03sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.03sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 20.03sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.03sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 20.11sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.12sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.12sINFOplatform_velocity_controllerconfigure successful + 20.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.13sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.14sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118710 ms (missed cycles : 5). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118710 ms (missed cycles : 5).[0m ×2 + 20.49sINFOros2-11process has finished cleanly [pid 9332] ×2 + 20.54sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 20.54sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 20.54sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 20.54sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 20.54sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 20.55sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 20.55sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 20.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 20.57sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 20.57sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 20.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 20.57sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 20.57sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 20.57sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 20.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 20.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 20.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 20.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 20.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 20.59sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 20.60sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 20.77sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 3.088ms + 21.04sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.04sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.04sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.04sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.05sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 21.05sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 21.10sINFOros2-10process has finished cleanly [pid 9331] ×2 + 21.13sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.13sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.13sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.13sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.15sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.15sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.15sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.15sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671951 ms (missed cycles : 5). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671951 ms (missed cycles : 5).[0m ×2 + 21.49sINFOros2-9process has finished cleanly [pid 9330] ×2 + 21.50sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.50sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 21.50sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.50sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 21.50sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 21.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 21.59sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 21.59sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 21.59sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 21.59sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.94sINFOros2_control_node[2026-07-26 15:30:09.977] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.94sINFOros2_control_node[2026-07-26 15:30:09.979] [info] Controller state will be published at 10 Hz. ×2 + 21.94sINFOros2_control_node[2026-07-26 15:30:09.980] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q + 22.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mg9iue2 --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_mumlavs6 --params-file /tmp/launch_params_kbw7im4q [0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.375254 ms (missed cycles : 8). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.375254 ms (missed cycles : 8).[0m ×2 + 22.32sINFOros2-16process has finished cleanly [pid 9337] ×2 + 22.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.41sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.41sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 22.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 22.77sINFOros2-14process has finished cleanly [pid 9335] ×2 + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006307 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006307 ms (missed cycles : 2).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 26.17sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 27.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 27.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 27.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 27.80sINFOmove_groupClearing octomap...[0m ×2 + 27.80sINFOmove_groupOctomap cleared.[0m ×2 + 27.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 28.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 28.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 28.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 29.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 29.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 29.67sINFOobjective_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 + 29.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 29.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	71.9s	3 errors · 231 warnings · 204 info
+ 0.00sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 4.541ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491744 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491744 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 2.959ms + 1.01sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.184ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.863703 ms (missed cycles : 11). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.863703 ms (missed cycles : 11).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.049ms + 2.01sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.568ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737952 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737952 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.540ms + 3.00sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.377ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313847 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313847 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 4.01sINFOjoint_trajectory_controllerGot request to cancel goal + 4.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785080023.14021969 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.335ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803474 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803474 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.915ms + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785080023.70990252 seconds. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.253ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.581ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314639 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314639 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.505ms + 6.16sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.30sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 5.014ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068607 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068607 ms (missed cycles : 2).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 3086 particles 723 points - 3.805ms + 6.99sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.500ms + 7.40sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 1.940ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767771 ms (missed cycles : 5). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767771 ms (missed cycles : 5).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.298285 ms (missed cycles : 7). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.298285 ms (missed cycles : 7).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.457ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030593 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030593 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.519ms + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591535 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591535 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782835 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782835 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441107 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441107 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.238621 ms (missed cycles : 6). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.238621 ms (missed cycles : 6).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758271 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758271 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267629 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267629 ms (missed cycles : 2).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981071 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981071 ms (missed cycles : 2).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805921 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805921 ms (missed cycles : 2).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415389 ms (missed cycles : 3). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415389 ms (missed cycles : 3).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694375 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694375 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms ×3 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186966 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186966 ms (missed cycles : 2).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736612 ms (missed cycles : 4). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736612 ms (missed cycles : 4).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482365 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482365 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002516 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002516 ms (missed cycles : 2).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246539 ms (missed cycles : 2). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246539 ms (missed cycles : 2).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.046902 ms (missed cycles : 7). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.046902 ms (missed cycles : 7).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051901 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051901 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060453 ms (missed cycles : 3). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060453 ms (missed cycles : 3).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.980785 ms (missed cycles : 6). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.980785 ms (missed cycles : 6).[0m ×2 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759349 ms (missed cycles : 2). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759349 ms (missed cycles : 2).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms ×2 + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790672 ms (missed cycles : 3). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790672 ms (missed cycles : 3).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524691 ms (missed cycles : 3). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524691 ms (missed cycles : 3).[0m ×2 + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237503 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237503 ms (missed cycles : 2).[0m ×2 + 33.51sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.51sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412127 ms (missed cycles : 5). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412127 ms (missed cycles : 5).[0m ×2 + 35.03sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.13sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011297 ms (missed cycles : 2). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011297 ms (missed cycles : 2).[0m ×2 + 35.66sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684265 ms (missed cycles : 3). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684265 ms (missed cycles : 3).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229292 ms (missed cycles : 5). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229292 ms (missed cycles : 5).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276060 ms (missed cycles : 3). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276060 ms (missed cycles : 3).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103599 ms (missed cycles : 2). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103599 ms (missed cycles : 2).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608572 ms (missed cycles : 4). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608572 ms (missed cycles : 4).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286219 ms (missed cycles : 3). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286219 ms (missed cycles : 3).[0m ×2 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414488 ms (missed cycles : 4). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414488 ms (missed cycles : 4).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255601 ms (missed cycles : 5). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255601 ms (missed cycles : 5).[0m ×2 + 44.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693539 ms (missed cycles : 2). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693539 ms (missed cycles : 2).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396270 ms (missed cycles : 5). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396270 ms (missed cycles : 5).[0m ×2 + 46.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800861 ms (missed cycles : 4). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800861 ms (missed cycles : 4).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933231 ms (missed cycles : 2). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933231 ms (missed cycles : 2).[0m ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829307 ms (missed cycles : 6). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829307 ms (missed cycles : 6).[0m ×2 + 49.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664913 ms (missed cycles : 2). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664913 ms (missed cycles : 2).[0m ×2 + 50.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319319 ms (missed cycles : 4). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319319 ms (missed cycles : 4).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 51.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809074 ms (missed cycles : 3). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809074 ms (missed cycles : 3).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 52.88sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800011 ms (missed cycles : 4). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800011 ms (missed cycles : 4).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582201 ms (missed cycles : 2). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582201 ms (missed cycles : 2).[0m ×2 + 54.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262781 ms (missed cycles : 2). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262781 ms (missed cycles : 2).[0m ×2 + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405874 ms (missed cycles : 6). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405874 ms (missed cycles : 6).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503183 ms (missed cycles : 2). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503183 ms (missed cycles : 2).[0m ×2 + 57.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 58.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506013 ms (missed cycles : 5). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506013 ms (missed cycles : 5).[0m ×2 + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976077 ms (missed cycles : 2). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976077 ms (missed cycles : 2).[0m ×2 + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020831 ms (missed cycles : 2). + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020831 ms (missed cycles : 2).[0m ×2 + 61.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922285 ms (missed cycles : 3). + 61.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922285 ms (missed cycles : 3).[0m ×2 + 62.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.156ms + 62.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159096 ms (missed cycles : 3). + 62.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159096 ms (missed cycles : 3).[0m ×2 + 63.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 63.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375465 ms (missed cycles : 3). + 63.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375465 ms (missed cycles : 3).[0m ×2 + 64.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029314 ms (missed cycles : 2). + 64.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029314 ms (missed cycles : 2).[0m ×2 + 64.40sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 65.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241376 ms (missed cycles : 3). + 65.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241376 ms (missed cycles : 3).[0m ×2 + 66.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931873 ms (missed cycles : 2). + 66.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931873 ms (missed cycles : 2).[0m ×2 + 67.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978573 ms (missed cycles : 2). + 67.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978573 ms (missed cycles : 2).[0m ×2 + 68.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787719 ms (missed cycles : 2). + 68.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787719 ms (missed cycles : 2).[0m ×2 + 68.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 69.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189400 ms (missed cycles : 2). + 69.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189400 ms (missed cycles : 2).[0m ×2 + 69.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 70.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930149 ms (missed cycles : 2). + 70.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930149 ms (missed cycles : 2).[0m ×2 + 71.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 71.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705571 ms (missed cycles : 3). + 71.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705571 ms (missed cycles : 3).[0m ×2 + 71.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 72.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501535 ms (missed cycles : 3). + 72.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501535 ms (missed cycles : 3).[0m ×2 + 73.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 73.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.885279 ms (missed cycles : 6). + 73.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.885279 ms (missed cycles : 6).[0m ×2 + 73.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 74.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983663 ms (missed cycles : 3). + 74.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983663 ms (missed cycles : 3).[0m ×2 + 74.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 75.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068979 ms (missed cycles : 2). + 75.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068979 ms (missed cycles : 2).[0m ×2 + 75.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785080095.06007433 seconds ×3 + 76.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.721ms + 76.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 76.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785080095.62093616 seconds. ×3 + 76.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716097 ms (missed cycles : 2). + 76.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716097 ms (missed cycles : 2).[0m ×2 + 76.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 76.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 77.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 77.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 77.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 78.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 78.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.9s	183 warnings · 164 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785079861.33446312 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785079861.89507914 seconds. ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (5.9511e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255998 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255998 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785079864.98524809 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785079865.54066443 seconds. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896875 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896875 ms (missed cycles : 5).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742291 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742291 ms (missed cycles : 4).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169792 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169792 ms (missed cycles : 2).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427136 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.427136 ms (missed cycles : 4).[0m ×2 + 8.18sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 1.712ms + 8.78sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.498ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874157 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874157 ms (missed cycles : 2).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 9.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327728 ms (missed cycles : 5). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327728 ms (missed cycles : 5).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443551 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443551 ms (missed cycles : 2).[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334195 ms (missed cycles : 5). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334195 ms (missed cycles : 5).[0m ×2 + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms ×2 + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 12.89sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209471 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209471 ms (missed cycles : 2).[0m ×2 + 13.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045943 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045943 ms (missed cycles : 3).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093795 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093795 ms (missed cycles : 2).[0m ×2 + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954364 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954364 ms (missed cycles : 3).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706938 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706938 ms (missed cycles : 2).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161982 ms (missed cycles : 4). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161982 ms (missed cycles : 4).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088368 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088368 ms (missed cycles : 2).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336095 ms (missed cycles : 5). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336095 ms (missed cycles : 5).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.855926 ms (missed cycles : 7). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.855926 ms (missed cycles : 7).[0m ×2 + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 22.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.527021 ms (missed cycles : 6). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.527021 ms (missed cycles : 6).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867884 ms (missed cycles : 4). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867884 ms (missed cycles : 4).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331567 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331567 ms (missed cycles : 2).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508751 ms (missed cycles : 6). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508751 ms (missed cycles : 6).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930285 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930285 ms (missed cycles : 2).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173853 ms (missed cycles : 2). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173853 ms (missed cycles : 2).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327256 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327256 ms (missed cycles : 2).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313734 ms (missed cycles : 4). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313734 ms (missed cycles : 4).[0m ×2 + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695800 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695800 ms (missed cycles : 2).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048758 ms (missed cycles : 3). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048758 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165184 ms (missed cycles : 5). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165184 ms (missed cycles : 5).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231760 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231760 ms (missed cycles : 2).[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524102 ms (missed cycles : 4). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524102 ms (missed cycles : 4).[0m ×2 + 34.93sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906827 ms (missed cycles : 6). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906827 ms (missed cycles : 6).[0m ×2 + 36.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192796 ms (missed cycles : 3). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192796 ms (missed cycles : 3).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043295 ms (missed cycles : 3). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043295 ms (missed cycles : 3).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789972 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789972 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982061 ms (missed cycles : 3). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982061 ms (missed cycles : 3).[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737174 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737174 ms (missed cycles : 2).[0m ×2 + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784733 ms (missed cycles : 2). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784733 ms (missed cycles : 2).[0m ×2 + 42.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082487 ms (missed cycles : 2). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082487 ms (missed cycles : 2).[0m ×2 + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328117 ms (missed cycles : 2). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328117 ms (missed cycles : 2).[0m ×2 + 44.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306224 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306224 ms (missed cycles : 2).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576293 ms (missed cycles : 4). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576293 ms (missed cycles : 4).[0m ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757114 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757114 ms (missed cycles : 2).[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794820 ms (missed cycles : 3). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794820 ms (missed cycles : 3).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667970 ms (missed cycles : 4). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667970 ms (missed cycles : 4).[0m ×2 + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286461 ms (missed cycles : 2). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286461 ms (missed cycles : 2).[0m ×2 + 51.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.691950 ms (missed cycles : 7). + 51.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.691950 ms (missed cycles : 7).[0m ×2 + 51.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.400491 ms (missed cycles : 6). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.400491 ms (missed cycles : 6).[0m ×2 + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135118 ms (missed cycles : 6). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135118 ms (missed cycles : 6).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237029 ms (missed cycles : 6). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237029 ms (missed cycles : 6).[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853864 ms (missed cycles : 2). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853864 ms (missed cycles : 2).[0m ×2 + 56.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 57.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 59.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 59.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 59.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 60.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 60.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 60.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 61.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 61.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 61.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 61.49sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 61.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 62.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 63.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.5s	183 warnings · 149 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361626 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361626 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914867 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914867 ms (missed cycles : 3).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.963ms + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.028ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796774 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796774 ms (missed cycles : 2).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.616ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733315 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733315 ms (missed cycles : 3).[0m ×2 + 11.32sINFOamclParticle filter update iteration stats: 4652 particles 723 points - 5.875ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515277 ms (missed cycles : 5). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.515277 ms (missed cycles : 5).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 4.482ms + 12.30sINFOamclParticle filter update iteration stats: 2429 particles 723 points - 3.521ms + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756937 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756937 ms (missed cycles : 2).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.075ms + 13.33sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.700ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949708 ms (missed cycles : 6). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949708 ms (missed cycles : 6).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.393ms + 14.30sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.263ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201933 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201933 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564573 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564573 ms (missed cycles : 3).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751815 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751815 ms (missed cycles : 4).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806665 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806665 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 18.55sINFOros2_control_nodeMuJoCo sim: 1.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632232 ms (missed cycles : 4). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632232 ms (missed cycles : 4).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451381 ms (missed cycles : 5). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451381 ms (missed cycles : 5).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493622 ms (missed cycles : 4). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493622 ms (missed cycles : 4).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012976 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012976 ms (missed cycles : 2).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063960 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063960 ms (missed cycles : 2).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922516 ms (missed cycles : 4). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922516 ms (missed cycles : 4).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410536 ms (missed cycles : 2). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410536 ms (missed cycles : 2).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300448 ms (missed cycles : 2). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300448 ms (missed cycles : 2).[0m ×2 + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166373 ms (missed cycles : 2). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166373 ms (missed cycles : 2).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.948ms + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206480 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206480 ms (missed cycles : 2).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899174 ms (missed cycles : 4). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899174 ms (missed cycles : 4).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886697 ms (missed cycles : 2). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886697 ms (missed cycles : 2).[0m ×2 + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990149 ms (missed cycles : 3). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990149 ms (missed cycles : 3).[0m ×2 + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.243373 ms (missed cycles : 6). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.243373 ms (missed cycles : 6).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915167 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915167 ms (missed cycles : 3).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 34.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533604 ms (missed cycles : 2). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533604 ms (missed cycles : 2).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 35.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510389 ms (missed cycles : 5). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510389 ms (missed cycles : 5).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990210 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990210 ms (missed cycles : 2).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185291 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185291 ms (missed cycles : 2).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446356 ms (missed cycles : 5). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446356 ms (missed cycles : 5).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597292 ms (missed cycles : 6). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597292 ms (missed cycles : 6).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463441 ms (missed cycles : 4). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463441 ms (missed cycles : 4).[0m ×2 + 41.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802683 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802683 ms (missed cycles : 2).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895978 ms (missed cycles : 4). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895978 ms (missed cycles : 4).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045282 ms (missed cycles : 4). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045282 ms (missed cycles : 4).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724347 ms (missed cycles : 5). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724347 ms (missed cycles : 5).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587555 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587555 ms (missed cycles : 3).[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627579 ms (missed cycles : 6). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.627579 ms (missed cycles : 6).[0m ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276201 ms (missed cycles : 3). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276201 ms (missed cycles : 3).[0m ×2 + 48.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882744 ms (missed cycles : 2). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882744 ms (missed cycles : 2).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122354 ms (missed cycles : 3). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122354 ms (missed cycles : 3).[0m ×2 + 50.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796422 ms (missed cycles : 2). + 50.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796422 ms (missed cycles : 2).[0m ×2 + 51.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878722 ms (missed cycles : 4). + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878722 ms (missed cycles : 4).[0m ×2 + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669824 ms (missed cycles : 2). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669824 ms (missed cycles : 2).[0m ×2 + 54.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382158 ms (missed cycles : 3). + 54.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382158 ms (missed cycles : 3).[0m ×2 + 55.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.462650 ms (missed cycles : 6). + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.462650 ms (missed cycles : 6).[0m ×2 + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962089 ms (missed cycles : 4). + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962089 ms (missed cycles : 4).[0m ×2 + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991611 ms (missed cycles : 2). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991611 ms (missed cycles : 2).[0m ×2 + 58.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241039 ms (missed cycles : 5). + 58.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241039 ms (missed cycles : 5).[0m ×2 + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581049 ms (missed cycles : 7). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581049 ms (missed cycles : 7).[0m ×2 + 59.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143377 ms (missed cycles : 2). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143377 ms (missed cycles : 2).[0m ×2 + 60.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785080156.40844750 seconds ×3 + 60.81sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 1.935ms + 60.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.466ms + 61.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.822ms + 61.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.922544 ms (missed cycles : 7). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.922544 ms (missed cycles : 7).[0m ×2 + 61.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785080156.97041988 seconds. ×3 + 61.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.084ms + 61.63sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 61.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307809 ms (missed cycles : 3). + 62.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307809 ms (missed cycles : 3).[0m ×2 + 63.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873771 ms (missed cycles : 4). + 63.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873771 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.0s	180 warnings · 170 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2).[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5).[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785079958.47930598 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785079959.04873919 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.773ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.921ms + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.848ms + 6.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms + 7.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901439 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901439 ms (missed cycles : 4).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.498ms + 7.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.179ms + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071353 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071353 ms (missed cycles : 3).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211197 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211197 ms (missed cycles : 2).[0m ×2 + 9.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.397ms + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934251 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934251 ms (missed cycles : 2).[0m ×2 + 10.55sINFOamclParticle filter update iteration stats: 4259 particles 723 points - 5.655ms + 11.04sINFOamclParticle filter update iteration stats: 2982 particles 723 points - 3.957ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998899 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998899 ms (missed cycles : 2).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 2.942ms + 12.04sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.116ms + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056300 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056300 ms (missed cycles : 3).[0m ×2 + 12.54sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.231ms + 13.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253576 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253576 ms (missed cycles : 2).[0m ×2 + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 14.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.147526 ms (missed cycles : 7). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.147526 ms (missed cycles : 7).[0m ×2 + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 15.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681959 ms (missed cycles : 5). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681959 ms (missed cycles : 5).[0m ×2 + 15.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699637 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699637 ms (missed cycles : 4).[0m ×2 + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172176 ms (missed cycles : 6). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172176 ms (missed cycles : 6).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.314054 ms (missed cycles : 7). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.314054 ms (missed cycles : 7).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897738 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897738 ms (missed cycles : 2).[0m ×2 + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777668 ms (missed cycles : 4). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777668 ms (missed cycles : 4).[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 21.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416667 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416667 ms (missed cycles : 3).[0m ×2 + 21.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms ×2 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828527 ms (missed cycles : 3). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828527 ms (missed cycles : 3).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms ×2 + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046887 ms (missed cycles : 3). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046887 ms (missed cycles : 3).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757545 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757545 ms (missed cycles : 2).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 26.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858360 ms (missed cycles : 4). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858360 ms (missed cycles : 4).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733788 ms (missed cycles : 4). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733788 ms (missed cycles : 4).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379532 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379532 ms (missed cycles : 2).[0m ×2 + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793851 ms (missed cycles : 2). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793851 ms (missed cycles : 2).[0m ×2 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070022 ms (missed cycles : 5). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070022 ms (missed cycles : 5).[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 31.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888260 ms (missed cycles : 6). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888260 ms (missed cycles : 6).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718218 ms (missed cycles : 4). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718218 ms (missed cycles : 4).[0m ×2 + 33.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303980 ms (missed cycles : 5). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303980 ms (missed cycles : 5).[0m ×2 + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806941 ms (missed cycles : 3). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806941 ms (missed cycles : 3).[0m ×2 + 35.13sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.74sINFOobjective_server_nodePlanning for 50 path waypoints. ×3 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823670 ms (missed cycles : 4). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823670 ms (missed cycles : 4).[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780160 ms (missed cycles : 2). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780160 ms (missed cycles : 2).[0m ×2 + 37.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981103 ms (missed cycles : 5). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981103 ms (missed cycles : 5).[0m ×2 + 38.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 38.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 39.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519779 ms (missed cycles : 4). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519779 ms (missed cycles : 4).[0m ×2 + 39.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 39.96sINFOros2_control_nodeMuJoCo sim: 0.91% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615831 ms (missed cycles : 3). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615831 ms (missed cycles : 3).[0m ×2 + 41.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266088 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266088 ms (missed cycles : 2).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218100 ms (missed cycles : 3). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218100 ms (missed cycles : 3).[0m ×2 + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510688 ms (missed cycles : 5). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510688 ms (missed cycles : 5).[0m ×2 + 44.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836811 ms (missed cycles : 4). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836811 ms (missed cycles : 4).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779152 ms (missed cycles : 2). + 45.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779152 ms (missed cycles : 2).[0m ×2 + 45.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249959 ms (missed cycles : 2). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249959 ms (missed cycles : 2).[0m ×2 + 46.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945827 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945827 ms (missed cycles : 2).[0m ×2 + 48.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223050 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223050 ms (missed cycles : 3).[0m ×2 + 48.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077535 ms (missed cycles : 2). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077535 ms (missed cycles : 2).[0m ×2 + 49.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 50.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978397 ms (missed cycles : 2). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978397 ms (missed cycles : 2).[0m ×2 + 51.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 51.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455583 ms (missed cycles : 3). + 51.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455583 ms (missed cycles : 3).[0m ×2 + 52.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 52.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383281 ms (missed cycles : 2). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383281 ms (missed cycles : 2).[0m ×2 + 53.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189252 ms (missed cycles : 3). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189252 ms (missed cycles : 3).[0m ×2 + 53.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214493 ms (missed cycles : 6). + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214493 ms (missed cycles : 6).[0m ×2 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793718 ms (missed cycles : 2). + 55.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793718 ms (missed cycles : 2).[0m ×2 + 56.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 56.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093015 ms (missed cycles : 3). + 56.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093015 ms (missed cycles : 3).[0m ×2 + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649634 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649634 ms (missed cycles : 2).[0m ×2 + 57.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 58.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785080012.51889181 seconds ×3 + 58.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.627ms + 58.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.838ms + 58.82sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785080013.08184481 seconds. ×3 + 58.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614813 ms (missed cycles : 4). + 58.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614813 ms (missed cycles : 4).[0m ×2 + 59.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.174ms + 59.18sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 59.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.390ms + 59.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.693ms + 59.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502223 ms (missed cycles : 3). + 59.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502223 ms (missed cycles : 3).[0m ×2 + 59.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 60.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.342ms + 60.46sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.692ms + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673896 ms (missed cycles : 3). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673896 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.64sINFOmove_groupClearing octomap...[0m ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486368 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486368 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881091 ms (missed cycles : 6). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881091 ms (missed cycles : 6).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656747 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656747 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873584 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873584 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267104 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267104 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922485 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922485 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031709 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031709 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113566 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113566 ms (missed cycles : 2).[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092946 ms (missed cycles : 4). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092946 ms (missed cycles : 4).[0m ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144864 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144864 ms (missed cycles : 3).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410590 ms (missed cycles : 5). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410590 ms (missed cycles : 5).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523281 ms (missed cycles : 7). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.523281 ms (missed cycles : 7).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588918 ms (missed cycles : 6). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588918 ms (missed cycles : 6).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981605 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981605 ms (missed cycles : 3).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 1.963ms + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726836 ms (missed cycles : 3). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726836 ms (missed cycles : 3).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924725 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924725 ms (missed cycles : 2).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755470 ms (missed cycles : 2). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755470 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772724 ms (missed cycles : 3). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772724 ms (missed cycles : 3).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951982 ms (missed cycles : 4). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951982 ms (missed cycles : 4).[0m ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945771 ms (missed cycles : 2). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945771 ms (missed cycles : 2).[0m ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224333 ms (missed cycles : 4). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224333 ms (missed cycles : 4).[0m ×2 + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890783 ms (missed cycles : 5). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890783 ms (missed cycles : 5).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889310 ms (missed cycles : 2). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889310 ms (missed cycles : 2).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243213 ms (missed cycles : 3). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243213 ms (missed cycles : 3).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260859 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260859 ms (missed cycles : 2).[0m ×2 + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576386 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576386 ms (missed cycles : 3).[0m ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655825 ms (missed cycles : 2). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655825 ms (missed cycles : 2).[0m ×2 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698240 ms (missed cycles : 5). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698240 ms (missed cycles : 5).[0m ×2 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869566 ms (missed cycles : 3). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869566 ms (missed cycles : 3).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941766 ms (missed cycles : 2). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941766 ms (missed cycles : 2).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798794 ms (missed cycles : 2). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798794 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927721 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927721 ms (missed cycles : 2).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291576 ms (missed cycles : 3). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291576 ms (missed cycles : 3).[0m ×2 + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861127 ms (missed cycles : 3). + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861127 ms (missed cycles : 3).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076081 ms (missed cycles : 6). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076081 ms (missed cycles : 6).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146475 ms (missed cycles : 6). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146475 ms (missed cycles : 6).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2).[0m ×2 + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5).[0m ×2 + 47.11sINFOjoint_trajectory_controllerGoal reached, success! + 47.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785079861.33446312 seconds ×3 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4).[0m ×2 + 47.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785079861.89507914 seconds. ×3 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6).[0m ×2 + 48.65sINFOobjective_server_nodeFound path in 0 iterations (5.9511e-05 s). ×2 + 48.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.9s	108 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376487 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376487 ms (missed cycles : 3).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.670ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175482 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175482 ms (missed cycles : 3).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.47sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785079926.54783654 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024936 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024936 ms (missed cycles : 4).[0m ×2 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785079928.10916519 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.311048 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.311048 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313606 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313606 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049989 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049989 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024179 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024179 ms (missed cycles : 2).[0m ×2 + 8.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.294ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966992 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966992 ms (missed cycles : 4).[0m ×2 + 8.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.625ms + 9.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397112 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397112 ms (missed cycles : 2).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.874ms + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.733ms + 10.15sINFOros2_control_nodeMuJoCo sim: 0.87% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134436 ms (missed cycles : 5). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.134436 ms (missed cycles : 5).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.866ms + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112265 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112265 ms (missed cycles : 2).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 4508 particles 723 points - 4.903ms + 12.14sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 4.330ms + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029069 ms (missed cycles : 6). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029069 ms (missed cycles : 6).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 2.944ms + 13.12sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 2.984ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704303 ms (missed cycles : 5). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704303 ms (missed cycles : 5).[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.322ms + 14.11sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.440ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886541 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886541 ms (missed cycles : 2).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.258ms + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083852 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083852 ms (missed cycles : 3).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533853 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533853 ms (missed cycles : 2).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.416ms + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537361 ms (missed cycles : 3). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537361 ms (missed cycles : 3).[0m ×2 + 18.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097453 ms (missed cycles : 6). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097453 ms (missed cycles : 6).[0m ×2 + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184966 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184966 ms (missed cycles : 2).[0m ×2 + 21.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907511 ms (missed cycles : 2). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907511 ms (missed cycles : 2).[0m ×2 + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652098 ms (missed cycles : 3). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652098 ms (missed cycles : 3).[0m ×2 + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425644 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425644 ms (missed cycles : 2).[0m ×2 + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247191 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247191 ms (missed cycles : 3).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755098 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755098 ms (missed cycles : 2).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039603 ms (missed cycles : 3). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039603 ms (missed cycles : 3).[0m ×2 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365227 ms (missed cycles : 3). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365227 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227450 ms (missed cycles : 3). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227450 ms (missed cycles : 3).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2).[0m ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2).[0m ×2 + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5).[0m ×2 + 34.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4).[0m ×2 + 34.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785079958.47930598 seconds ×3 + 34.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 34.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 34.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 34.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785079959.04873919 seconds. ×3 + 35.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.773ms + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2).[0m ×2 + 35.32sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 35.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 35.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.921ms + 36.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2).[0m ×2 + 36.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.848ms + 36.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	13.0s	89 errors · 33 warnings · 406 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.992ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785080169.41578078 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.536ms + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785080170.01307678 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.869ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785080170.52322268 seconds ×3 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785080171.07333755 seconds. ×3 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.668ms + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 5.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785080171.69349360 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.103ms + 5.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.507ms + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915782 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915782 ms (missed cycles : 3).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025245 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025245 ms (missed cycles : 4).[0m ×2 + 7.74sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136544 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136544 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912105 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912105 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946983 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946983 ms (missed cycles : 3).[0m ×2 + 10.90sERRORweb_video_auth_proxy-33process[web_video_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge_auth_proxy-32process[web_bridge_auth_proxy-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOweb_video_auth_proxy-33sending signal 'SIGTERM' to process[web_video_auth_proxy-33] ×2 + 10.97sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_video_auth_proxy-33process has died [pid 9376, 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 + 10.98sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sINFOweb_bridge_auth_proxy-32sending signal 'SIGTERM' to process[web_bridge_auth_proxy-32] ×2 + 11.02sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-32process has died [pid 9375, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.03sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404348 ms (missed cycles : 2). + 11.06sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.10sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.12sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.14sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.16sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.19sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.21sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.24sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.26sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.28sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.31sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.32sINFOlaunchprocess[web_bridge_auth_proxy-32] was required: shutting down launched system ×2 + 11.33sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.36sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.37sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9373] ×2 + 11.37sINFOweb_video_server-31process has finished cleanly [pid 9374] ×2 + 11.40sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.40sINFOcontroller_managerShutdown request received.... + 11.40sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.40sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.40sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.40sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.40sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.40sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.40sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.40sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.40sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.40sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.40sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.40sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.40sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.40sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down the controller manager. + 11.42sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.44sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.44sERRORmove_group-19process has died [pid 9340, 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_q5_2t_k9 --params-file /tmp/launch_params_0myxiwe0 --params-file /tmp/launch_params_i0kg11gg --params-file /tmp/launch_params_195zdsho --params-file /tmp/launch_params_7bqhdfn2 --params-file /tmp/launch_params_v64flecy']. ×2 + 11.44sERRORui_teleop_bridge-28process has died [pid 9369, 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_wsh_1z1c']. ×2 + 11.46sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.48sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404348 ms (missed cycles : 2).[0m ×2 + 11.50sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.50sINFOexecute_objective_bridge-27process has finished cleanly [pid 9368] ×2 + 11.52sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.52sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.52sINFOcontroller_serverCleaning up + 11.52sINFOlocal_costmap.local_costmapCleaning up + 11.52sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.52sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.52sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.52sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.52sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.52sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.52sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.52sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.52sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.52sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.52sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.52sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.52sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.52sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.52sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.52sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.53sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.53sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.53sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.53sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.53sERRORmove_groupStack trace (most recent call last) in thread 9963: ×2 + 11.53sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.53sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b78d11a63, in __clone ×2 + 11.53sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b78c84aa3, in ×2 + 11.53sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b78f16db3, in ×2 + 11.53sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8b79659ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.53sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b792894d0, in rclcpp::Rate::sleep() ×2 + 11.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b791dca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.53sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b791a1a71, in ×2 + 11.53sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b78ee5390, in __cxa_throw ×2 + 11.53sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b78ecfa54, in std::terminate() ×2 + 11.53sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b78ee50d9, in ×2 + 11.53sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b78ecfff4, in ×2 + 11.53sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b78c108fe, in abort ×2 + 11.53sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b78c2d27d, in raise ×2 + 11.53sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b78c86b2c, in pthread_kill ×2 + 11.53sERRORmove_groupAborted (Signal sent by tkill() 9340 0) ×2 + 11.54sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.54sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.54sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.54sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.54sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.54sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.54sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.54sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.54sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.54sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.54sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.54sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.54sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.54sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.54sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.54sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 11.54sINFOobjective_server_node[2026-07-26 15:36:17.925] [moveit_pro_license] [info] ×2 + 11.54sINFOobjective_server_node************************************************* ×4 + 11.54sINFOobjective_server_node* MoveIt Pro License ×2 + 11.54sINFOobjective_server_node* Application has successfully terminated ×2 + 11.54sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.54sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.54sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.54sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.54sINFOodom_qos_relay.pymain() ×2 + 11.54sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.54sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.54sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.54sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.54sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.54sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.54sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.54sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.54sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.54sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.54sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.54sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2c3b766a4, in _start ×2 + 11.54sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9586cb228a, in __libc_start_main ×2 + 11.54sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9586cb21d0, in ×2 + 11.54sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9586ccfbbd, in exit ×2 + 11.54sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9586ccfa75, in ×2 + 11.54sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f958719e8f5, in spdlog::details::registry::~registry() ×2 + 11.55sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2c3b76d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.55sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2c3b7d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.55sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2c3b7c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.55sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2c3b78b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.55sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e2c3b76d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.55sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9587854454, in rclcpp::Node::~Node() ×2 + 11.55sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f958780f515, in ×2 + 11.55sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9587852d20, in ×2 + 11.55sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9587852c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.55sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f958780f5d9, in ×2 + 11.55sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9587814161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.55sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f953efee090]) ×2 + 11.55sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.56sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.56sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.56sINFOmap_serverDeactivating + 11.56sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.56sERRORobjective_server_node_main-24process has died [pid 9365, 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_c5btnszr --params-file /tmp/launch_params__f7xa23d --params-file /tmp/launch_params_mcx_fsng --params-file /tmp/launch_params_15vfnu9o --params-file /tmp/launch_params_nif1vq7h --params-file /tmp/launch_params_38kuonny --params-file /tmp/launch_params__s49am_w --params-file /tmp/launch_params_trqo_1vb --params-file /tmp/launch_params_ddz8dpih']. ×2 + 11.57sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.57sINFOmap_serverCleaning up + 11.57sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.57sINFOsmoother_serverCleaning up + 11.58sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.58sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.58sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.58sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.58sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.60sERRORamclThe bond connection to the lifecycle manager has been broken + 11.61sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.61sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.61sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.61sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.61sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.61sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.61sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.61sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.61sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.62sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.31sINFOcomponent_container_mt-26process has finished cleanly [pid 9367] ×2 + 12.32sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9364] ×2 + 12.35sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9343] ×2 + 12.39sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785080177.788 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.40sINFOwaypoint_manager_node-21process has finished cleanly [pid 9342] ×2 + 12.40sINFOparameter_manager_node-20process has finished cleanly [pid 9341] ×2 + 12.46sINFOcomponent_container_mt-25process has finished cleanly [pid 9366] ×2 + 12.46sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9261] ×2 + 12.48sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9260] ×2 + 12.51sINFOstatic_transform_publisher-3process has finished cleanly [pid 9258] ×2 + 12.53sINFOstatic_transform_publisher-2process has finished cleanly [pid 9257] ×2 + 12.56sERRORodom_qos_relay.py-4process has died [pid 9259, 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 + 14.06sINFOweb_bridge-29process has finished cleanly [pid 9370] ×2 + 14.06sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.21sINFOros2_control_node-7process has finished cleanly [pid 9262] ×2 + 15.90sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.92sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.93sERRORcomponent_container_isolated-1process has died [pid 9256, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_qpqbpszb --params-file /tmp/launch_params_6ssuwc2w -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.0s	57 warnings · 133 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991611 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241039 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241039 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581049 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581049 ms (missed cycles : 7).[0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143377 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143377 ms (missed cycles : 2).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.60sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.63sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785080156.40844750 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.72sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 1.935ms + 3.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.466ms + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.822ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.922544 ms (missed cycles : 7). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.922544 ms (missed cycles : 7).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785080156.97041988 seconds. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.084ms + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307809 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307809 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873771 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873771 ms (missed cycles : 4).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.625ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942510 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942510 ms (missed cycles : 4).[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.555ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.837617 ms (missed cycles : 7). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.837617 ms (missed cycles : 7).[0m ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 9.12sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166834 ms (missed cycles : 6). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166834 ms (missed cycles : 6).[0m ×2 + 9.39sINFOobjective_server_nodeFound path in 29 iterations (0.0315816 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] ×2 + 10.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759740 ms (missed cycles : 5). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759740 ms (missed cycles : 5).[0m ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.63sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016352 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016352 ms (missed cycles : 2).[0m ×2 + 12.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.303ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737091 ms (missed cycles : 8). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737091 ms (missed cycles : 8).[0m ×2 + 13.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.301ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123837 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123837 ms (missed cycles : 3).[0m ×2 + 13.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 14.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3).[0m ×2 + 14.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6).[0m ×2 + 15.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.992ms + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5).[0m ×2 + 16.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785080169.41578078 seconds ×3 + 16.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 17.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.536ms + 17.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785080170.01307678 seconds. ×3 + 17.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.24sINFOmove_groupClearing octomap...[0m ×2 + 17.24sINFOmove_groupOctomap cleared.[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.869ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3).[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 17.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785080170.52322268 seconds ×3 + 17.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 18.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 18.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785080171.07333755 seconds. ×3 + 18.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.668ms + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 18.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785080171.69349360 seconds ×3 + 19.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.103ms + 19.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.6s	3 errors · 51 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214493 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214493 ms (missed cycles : 6).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793718 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793718 ms (missed cycles : 2).[0m ×2 + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093015 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093015 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649634 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649634 ms (missed cycles : 2).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785080012.51889181 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.627ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.838ms + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785080013.08184481 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614813 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614813 ms (missed cycles : 4).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.174ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.390ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.693ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502223 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502223 ms (missed cycles : 3).[0m ×2 + 5.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 5.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.342ms + 5.76sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.692ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673896 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673896 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.944ms + 6.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.900ms + 6.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.672ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.442267 ms (missed cycles : 8). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.442267 ms (missed cycles : 8).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744071 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744071 ms (missed cycles : 4).[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.126ms + 9.15sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 5.081ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416608 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416608 ms (missed cycles : 3).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 3824 particles 723 points - 4.774ms + 10.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 4.541ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491744 ms (missed cycles : 4). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491744 ms (missed cycles : 4).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 2.959ms + 11.15sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.184ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.863703 ms (missed cycles : 11). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.863703 ms (missed cycles : 11).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.049ms + 12.15sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.568ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737952 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737952 ms (missed cycles : 2).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.540ms + 13.14sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.377ms + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313847 ms (missed cycles : 5). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313847 ms (missed cycles : 5).[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 14.15sINFOjoint_trajectory_controllerGot request to cancel goal + 14.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.15sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1785080023.14021969 seconds ×3 + 14.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.335ms + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803474 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803474 ms (missed cycles : 2).[0m ×2 + 14.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.915ms + 14.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785080023.70990252 seconds. ×3 + 14.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms + 15.09sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 15.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.253ms + 15.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.581ms + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314639 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314639 ms (missed cycles : 2).[0m ×2 + 15.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.505ms + 16.30sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.45sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 5.014ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068607 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068607 ms (missed cycles : 2).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 3086 particles 723 points - 3.805ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.7s	39 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376487 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376487 ms (missed cycles : 3).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.670ms + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175482 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175482 ms (missed cycles : 3).[0m ×2 + 8.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785079926.54783654 seconds ×3 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024936 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024936 ms (missed cycles : 4).[0m ×2 + 10.24sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785079928.10916519 seconds. ×3 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.311048 ms (missed cycles : 7). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.311048 ms (missed cycles : 7).[0m ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313606 ms (missed cycles : 5). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313606 ms (missed cycles : 5).[0m ×2 + 12.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049989 ms (missed cycles : 3). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049989 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.8s	33 warnings · 66 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501535 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501535 ms (missed cycles : 3).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.885279 ms (missed cycles : 6). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.885279 ms (missed cycles : 6).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983663 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983663 ms (missed cycles : 3).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068979 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068979 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785080095.06007433 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.721ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 4.73sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785080095.62093616 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716097 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716097 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 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 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 7.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 9.01sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 9.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	30 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785079861.33446312 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785079861.89507914 seconds. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6).[0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (5.9511e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255998 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255998 ms (missed cycles : 2).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785079864.98524809 seconds ×3 + 7.88sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785079865.54066443 seconds. ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896875 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896875 ms (missed cycles : 5).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742291 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742291 ms (missed cycles : 4).[0m ×2 + 9.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	24 warnings · 48 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.303ms + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737091 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737091 ms (missed cycles : 8).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.301ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123837 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123837 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.992ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785080169.41578078 seconds ×3 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.536ms + 4.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785080170.01307678 seconds. ×3 + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.81sINFOmove_groupClearing octomap...[0m ×2 + 4.81sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.869ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 5.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785080170.52322268 seconds ×3 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785080171.07333755 seconds. ×3 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.668ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 6.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785080171.69349360 seconds ×3 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.103ms + 6.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.507ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915782 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915782 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785079861.33446312 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785079861.89507914 seconds. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6).[0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (5.9511e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.084682 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815997 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807465 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795936 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785079861.33446312 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785079861.89507914 seconds. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6).[0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (5.9511e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2).[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5).[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785079958.47930598 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785079959.04873919 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.773ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.921ms + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.848ms + 6.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2).[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5).[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785079958.47930598 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785079959.04873919 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.773ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.921ms + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.848ms + 6.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 44 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700860 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519144 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677165 ms (missed cycles : 2).[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756554 ms (missed cycles : 5).[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720355 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785079958.47930598 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.781ms + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785079959.04873919 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.773ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071334 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.921ms + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013947 ms (missed cycles : 2).[0m ×2 + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.848ms + 6.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.318ms + 0.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120006 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122708 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.871ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168711 ms (missed cycles : 3).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.635ms + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944933 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785080099.90110946 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785080100.46827412 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440178 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964468 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.64sINFOmove_groupClearing octomap...[0m ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785079861.33446312 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618881 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785079861.89507914 seconds. ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072556 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (5.9511e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271144 ms (missed cycles : 2).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255998 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255998 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785079864.98524809 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785079865.54066443 seconds. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896875 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896875 ms (missed cycles : 5).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742291 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742291 ms (missed cycles : 4).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385669 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089809 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170168 ms (missed cycles : 3).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896894 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785079921.88080978 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375121 ms (missed cycles : 5).[0m ×2 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.850ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 4.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785079922.46769977 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838571 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071378 ms (missed cycles : 6).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 47 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.303ms + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737091 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.737091 ms (missed cycles : 8).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.301ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123837 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123837 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758411 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726295 ms (missed cycles : 6).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.992ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223735 ms (missed cycles : 5).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785080169.41578078 seconds ×3 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.536ms + 4.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785080170.01307678 seconds. ×3 + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.81sINFOmove_groupClearing octomap...[0m ×2 + 4.81sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.869ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240567 ms (missed cycles : 3).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 5.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785080170.52322268 seconds ×3 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785080171.07333755 seconds. ×3 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.668ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.366475 ms (missed cycles : 8).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 6.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785080171.69349360 seconds ×3 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.103ms + 6.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 6.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 7.29sINFOjoint_trajectory_controllerReceived new action goal + 7.29sINFOjoint_trajectory_controllerAccepted new action goal + 7.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.29sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006307 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006307 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 2.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.47sINFOmove_groupClearing octomap...[0m ×2 + 4.47sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 6.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 6.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006307 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006307 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 2.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.47sINFOmove_groupClearing octomap...[0m ×2 + 4.47sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927097 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 5.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159958 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190026 ms (missed cycles : 3).[0m ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205725 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785079815.84175539 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785079815.85202694 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785079816.41188669 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785079816.42210984 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669770 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785079816.96720672 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785079817.11777472 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706061 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785079817.69304442 seconds. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785079817.75319743 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785079818.30757976 seconds. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674310 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063863 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2